| Autor: |
JIA Dong-yong, HUANG Qiang, TIAN Ye, ZHANG Wei-min, GAO Jun-yao |
| Předmět: |
|
| Zdroj: |
Transactions of Beijing Institute of Technology; 2009, Vol. 29 Issue 11, p983-987, 5p, 6 Diagrams, 2 Graphs |
| Abstrakt: |
According to the reach-to-grasp task for a humanoid robot, a method combining visual feedforward and visual feedback is proposed. Reverse kinematics algorithm based on the grid is used in the visual feedforward to facilitate the reach-to-grasp task and reduces the manipulation time. The 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 experimental results. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
|
