Design and control of a humanoid robot

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

This study constructs a wheeled humanoid robot as our preliminary research of humanoid robots. The humanoid robot developed herein comprises mainly a wheeled mobile base, a fixed torso mounted on a mobile base, two 7 DOF robot arms, two 7 DOF robot hands and one 5 DOF robotic binocular head. A coordinated visually guided control structure is then proposed for this humanoid robot. Image processing algorithms are also proposed to increase the perception capability of rapidly detecting the location of a target object in a natural environment, thus reducing the computational burden for image processing. Finally, one experiment is conducted to verify the theoretical derivations and the performance of the humanoid robot. Three objects, i.e., a rectangular parallelepiped, a cup with a handle and a bottle-shaded container with square bottom, are placed on a table, with one selected as the target object. Experimental results indicate that the robotic head and the robot arm of the humanoid robot can coordinate with each other to locate and grasp the target object successfully.

原文English
主出版物標題2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
頁面2002-2007
頁數6
DOIs
出版狀態Published - 2006 十二月 1
事件2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
持續時間: 2006 十月 92006 十月 15

出版系列

名字IEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
國家/地區China
城市Beijing
期間06-10-0906-10-15

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 電腦視覺和模式識別
  • 電腦科學應用

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