Development of a humanoid robot. (14th August 2009)

• Record Type: Journal Article
• Authors: Tsay, T.I. James; Lai, C.H.
• Is Part Of: International journal of computer applications technology. Volume 36:Number 2(2009)
• Page Start: 125
• Page End: 133
• Publication Date: 2009-08-14
• Subjects: eye-arm coordination -- humanoid robots -- look-and-move structure -- robot vision -- robot design -- robot control -- object grasping -- robot grasping -- wheeled robots -- robot hands -- robot arms; Technology -- Data processing -- Periodicals; 620.00285
• Languages: English
• ISSNs: 0952-8091

Abstract

This study presents design methodologies, specifications and control strategies for vision-guided object grasping for the developed humanoid robot, Cheng-kung Humanoid RobotIc System (CHRIS). The humanoid robot constructed herein comprises mainly a wheeled mobile base, fixed torso mounted on a mobile base, two robot arms with seven Degrees of Freedom (DOF), two robot hands with seven DOF, and one robotic binocular head with five DOF. The proposed eye/arm coordination control structure for the robot is a hybrid image-based/position-based look-and-move structure. Finally, one experiment is conducted to validate the theoretical derivations and performance of the humanoid robot.