Development of a humanoid robot

被引：3

作者：

Tsay, T. I. James ^{[1
]}

Lai, C. H. ^{[1
]}

机构：

[1] Natl Cheng Kung Univ, Dept Mech Engn, Tainan 70101, Taiwan

来源：

INTERNATIONAL JOURNAL OF COMPUTER APPLICATIONS IN TECHNOLOGY | 2009年 / 36卷 / 02期

关键词：

eye/arm coordination; grasping; humanoid robot; look-and-move structure;

D O I：

10.1504/IJCAT.2009.027861

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

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.

引用

页码：125 / 133

页数：9

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