Development of a humanoid robot. (14th August 2009) - Tsay, T.I. James
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.