Development of a humanoid robot

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 2009 English Publisher:Inderscience PublishersJournal:International Journal of Computer Applications in Technology, volume 36, page 125 (issn: 0952-8091, eissn: 1741-5047,

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

doi: 10.1504/ijcat.2009.027861

Development of 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.

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National Cheng Kung University
Taiwan

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