基于视觉前馈和视觉反馈的仿人机器人抓取操作  

Object Manipulation of a Humanoid Robot Based on Visual Feedforward and Visual Feedback

作　　者：贾东永[1] 黄强[1] 田野[1] 张伟民[1] 高峻峣[1] 

机构地区：[1]北京理工大学机电学院,北京100081

出　　处：《北京理工大学学报》2009年第11期983-987,共5页Transactions of Beijing Institute of Technology

基　　金：国家"八六三"计划项目(2003AA420010)

摘　　要：针对仿人机器人执行抓取操作,提出了一种联合使用视觉前馈和视觉反馈的控制策略.在视觉前馈中利用基于表格的逆运动学算法,简化了逆运动学计算,减少了抓取操作时间.视觉反馈补偿了弱标定并增加了系统的稳定性.两种控制算法的联合使用简化了仿人机器人的伸手抓取操作.实验结果验证了该控制策略的可用性.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.

关 键 词：仿人机器人 视觉伺服 伸手抓取 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]