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

fYear

2011

fDate

20-22 Dec. 2011

Firstpage

785

Lastpage

790

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;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2011 IEEE/SICE International Symposium on

Conference_Location

Kyoto

Print_ISBN

978-1-4577-1523-5

Type

conf

DOI

10.1109/SII.2011.6147548

Filename

6147548