Title :
Construction of an anthropomorphic robot and its intelligent control for vision-guided feeding tasks
Author :
Tsay, T. I James ; Liu, Y.M.
Author_Institution :
Dept. of Mech. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
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.
Keywords :
intelligent control; mobile robots; robot vision; feeding tasks; human mouth; intelligent control; meal tray; omnidirectional base; panoramic camera; seven-degrees-of-freedom arms; uncalibrated pan-tilt-zoom camera; vision-guided control strategy; wheel-type anthropomorphic robot; Artificial neural networks; Force; Manipulators; Mobile robots; Robot kinematics; Trajectory;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147548
