Abstract
Generally, an intelligent humanoid robot system should have dual arms, mobile ability and stereo vision for establishing the interactive capability in unknown environment. Stereo vision system detects unknown objects or obstacles from their visual range and estimates 3D coordinates in a working environment. Dual arms and mobile platform are employed to approach the detected object and execute interaction based on visual servo information. Here a wheel-based 10 DOF dual arms mobile robot with FPGA hardware control structure and a Digital signal processor (DSP) based CMOS stereo vision system was designed and built to construct an distributed embedded low cost visual guided intelligent robotic system. The intelligent fuzzy sliding mode control strategy was employed to design the robot arm and platform motion control system. The experimental results show that the proposed stereo vision algorithm has good recognition ability and accuracy. Each joint angular tracking error of humanoid robot can keep within 0.05° by using distributed FSMC controller.
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Recommended by Senior Editor Jong Hyeon Park
Shiuh-Jer Huang received the B.Sc. and M.Sc. from National Taiwan University, Taipei, Taiwan, and the Ph.D. from the University of California, Los Angeles, USA, in 1978, 1980 and 1986, respectively, all in Mechanical Engineering. In 1986, he joined the faculty of the Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, where he is currently a Professor. His research interests are precision mechatronics control, intelligent control system, robotic system control, vision servo motion control and advanced vehicle components development and applications.
Sheng Liu received the M.Sc. Degree from the Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, in 2011. Now he is working in Pegatron Corporation as a system integration engineer.
Chun-His Wu received the M.Sc. Degree from the Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, in 2011. Now he is working in Pegatron Corporation as a system integration engineer.
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Huang, SJ., Liu, S. & Wu, CH. Intelligent humanoid mobile robot with embedded control and stereo visual feedback. J Mech Sci Technol 29, 3919–3931 (2015). https://doi.org/10.1007/s12206-015-0838-y
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DOI: https://doi.org/10.1007/s12206-015-0838-y