Development of a humanoid robot

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

Research output: Contribution to journalArticle

4 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)125-133
Number of pages9
JournalInternational Journal of Computer Applications in Technology
Volume36
Issue number2
DOIs
Publication statusPublished - 2009 Aug

All Science Journal Classification (ASJC) codes

  • Software
  • Information Systems
  • Computer Science Applications
  • Computer Networks and Communications
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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