Conception and development of Dexto:Eka: The Humanoid Robot - Part IV

This paper elucidates the fourth phase of the development of `Dexto:Eka: - The Humanoid Robot´. It lays special emphasis on the conception of the locomotion drive and the development of vision based system that aids navigation and tele-operation. The first three phases terminated with the completion of two robotic arms with six degrees of freedom each, structural development and the creation of a human machine interface that included an exo-frame, a control column and a graphical user interface. This phase also involved the enhancement of the exo-frame to a vision based system using a Kinect camera. The paper also focuses on the reasons behind choosing the locomotion drive and the benefits it has.