Object manipulation of a humanoid robot based on visual Servoing

Author

Pang, Yunting ; Huang, Qiang ; Jia, Dongyong ; Tian, Ye ; Gao, Junyao ; Zhang, Weimin

Author_Institution

Beijing Inst. of Technol., Beijing

fYear

2007

fDate

Oct. 29 2007-Nov. 2 2007

Firstpage

1124

Lastpage

1129

Abstract

Vision is a very important noncontact sensor for humanoid robots. In this paper, a method combining visual feedforward and visual feedback is proposed to implement reach-to-grasp task for a humanoid robot. Visual feedforward facilitates the reach-to-grasp task and reduces the manipulation time. Visual feedback increases the robustness by compensating the weak calibration error. The combination of two control strategies facilitates reach-to-grasp task for a humanoid robot. The robustness of the system is confirmed by the experiment results.

Keywords

feedback; feedforward; humanoid robots; manipulators; robot vision; robust control; visual servoing; humanoid robot; noncontact sensor; object manipulation; reach-to-grasp task; system robustness; visual feedback; visual feedforward; visual servoing; weak calibration error; Calibration; Feedback; Humanoid robots; Intelligent robots; Manipulators; Robot kinematics; Robot sensing systems; Robustness; Service robots; Visual servoing; humanoid robot; reach-to-grasp; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Conference_Location

San Diego, CA

Print_ISBN

978-1-4244-0912-9

Electronic_ISBN

978-1-4244-0912-9

Type

conf

DOI

10.1109/IROS.2007.4399445

Filename

4399445