Application of hand-eye coordination in reaching with a humanoid

Yu, Zeyuan

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https://hdl.handle.net/2142/97902 Copy

Description

Title

Application of hand-eye coordination in reaching with a humanoid

Author(s)

Yu, Zeyuan

Contributor(s)

Levinson, Stephen E.

Issue Date

2017-05

Keyword(s)

• humanoid
• hand-eye coordination
• reaching

Abstract

Reaching is the prerequisite for all kinds of physical manipulation by which robots interact with the physical world. In this research project, we try to build an application on the iCub humanoid platform to reach visually seen objects located in workspace. We also investigate humans’ ability to reach to objects using visual feedback and intend for the application to reproduce human-like behavior with a simplified model. This application includes fine motor control, object recognition, spatial transformations, stereovision, gaze control, and hand-eye coordination. We also discuss different methods in both vision and control that we use in the application.

Type of Resource

text

Language

en

Permalink

http://hdl.handle.net/2142/97902

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