Development of a humanoid robot

Authors:
T.I. James Tsay;C. H. Lai
Affiliations:
Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan.;Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan
Venue:
International Journal of Computer Applications in Technology
Year:
2009

Citing 1
Cited 2

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Binocular stereo vision system for a humanoid robot

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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.