TY - GEN
T1 - Construction of an anthropomorphic robot and its intelligent control for vision-guided feeding tasks
AU - James Tsay, T. I.
AU - Liu, Y. M.
PY - 2011
Y1 - 2011
N2 - The objective of this study is to create a wheel-type anthropomorphic robot to support those who are unable to eat independently. The constructed robot comprises mainly an omni-directional base, a fixed torso mounted on the base, two seven-degrees-of-freedom arms, two robot hands and a head equipped with a panoramic camera and a pan/tilt/zoom (PTZ) camera. For feeding tasks, a vision-guided control strategy is proposed to determine the poses of the meal tray and the human mouth by using the uncalibrated PTZ camera. Additionally, an intelligent coordination control scheme is proposed to drive two robot arms to carry the meal tray.
AB - The objective of this study is to create a wheel-type anthropomorphic robot to support those who are unable to eat independently. The constructed robot comprises mainly an omni-directional base, a fixed torso mounted on the base, two seven-degrees-of-freedom arms, two robot hands and a head equipped with a panoramic camera and a pan/tilt/zoom (PTZ) camera. For feeding tasks, a vision-guided control strategy is proposed to determine the poses of the meal tray and the human mouth by using the uncalibrated PTZ camera. Additionally, an intelligent coordination control scheme is proposed to drive two robot arms to carry the meal tray.
UR - https://www.scopus.com/pages/publications/84863163721
UR - https://www.scopus.com/pages/publications/84863163721#tab=citedBy
U2 - 10.1109/SII.2011.6147548
DO - 10.1109/SII.2011.6147548
M3 - Conference contribution
AN - SCOPUS:84863163721
SN - 9781457715235
T3 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
SP - 785
EP - 790
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Y2 - 20 December 2011 through 22 December 2011
ER -