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
收藏
页码：125 / 133
页数：9
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