Development of a humanoid robot
by T.I. James Tsay, C.H. Lai
International Journal of Computer Applications in Technology (IJCAT), Vol. 36, No. 2, 2009

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.

Online publication date: Thu, 13-Aug-2009

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