关键词：仿人机器人；对象操作；控制策略
摘 要：It is hoped that the humanoid robot will be able to move flexibly and have excellent object operation capability like human beings. Based on people operation object strategy, this chapter proposes a humanoid robot object operation strategy that integrates the visual feedforward control strategy and the visual feedback control strategy. Using the visual feedforward control strategy, the humanoid robot can walk approaching the target object and make its arm close to the target object; using the visual feedback control strategy, the humanoid robot achieves the robot hand fine alignment with the target object. Based on the visual feedforward control strategy the time of the humanoid robot hand approaching the target object has been reduced; based on the visual feedback control strategy the accuracy of the operation has been improved. Based on the control strategy of this chapter proposed, the humanoid robot will be able to walk and operate objects independently.