Title: Development of a humanoid robot

Authors: T.I. James Tsay, C.H. Lai

Addresses: Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan. ' Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan

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.

Keywords: 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.

DOI: 10.1504/IJCAT.2009.027861

International Journal of Computer Applications in Technology, 2009 Vol.36 No.2, pp.125 - 133

Available online: 13 Aug 2009 *

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