Although notable progress has been made in the study of Steady-State Visual Evoked Potential (SSVEP)-based Brain-Computer Interface (BCI), several factors that limit the practical applications of BCIs still exist. One of these factors is the importability of the stimulator. In this study, Augmented Reality (AR) technology was introduced to present the visual stimuli of SSVEP-BCI, while the robot grasping experiment was designed to verify the applicability of the AR-BCI system. The offline experiment was designed to determine the best stimulus time, while the online experiment was used to complete the robot grasping task. The offline experiment revealed that better information transfer rate performance could be achieved when the stimulation time is 2 s. Results of the online experiment indicate that all 12 subjects could control the robot to complete the robot grasping task, which indicates the applicability of the AR-SSVEP-humanoid robot (NAO) system. This study verified the reliability of the AR-BCI system and indicated the applicability of the AR-SSVEP-NAO system in robot grasping tasks.