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Hand posture extraction is important for object manipulation of a humanoid robot. This paper focuses on the problem of hand posture extraction for object manipulation of human robot BHR-2, and proposes a novel method based on blue mark to get the hand posture. Based on the attached marks, the hand is identified and segmented using a method based on multiple visual cues integration. The vertices of...
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...
In this paper an object manipulation approach is proposed, in which object location is detected through stereo vision, pre-reaching and alignment of the object with hand is based on image features, and finally inverse kinematics control algorithm is developed. A new method for computing numerical solution to the inverse kinematics problem of robot manipulator is developed. The proposed method is based...
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