Stereo Vision을 이용한 휴머노이드 로봇의 팔 제어 시스템 연구

Abstract

We developed a new type of human-sized biped walking robot(BWR), KUBIR III, driven by the closed-chain type of joint actuator. The lower part of the robot is composed of twelve joints

body is 1 d.o.f., head is 2 d.o.f., and arms are 12 d.o.f. In all, 27 degree-of-freedom biped robot has been developed in this study. A unique actuation structure for the leg joints of the BWR is designed using the four-bar-link mechanism driven by the ball screw, which has a high strength and high gear ratio. The weight of the robot is 70kg with 170cm tall, and it is designed to be capable of supporting 120kg.

CCD camera is attached to the developed robot, each of eyes to be capable of supporting stereo vision system. We have provided the closed-form solution of the inverse kinematics for the end-point of two arms with 12 d.o.f. of the robot in order to recognize and grab the object in the workspace. If the left and right cameras successfully find the same target object, then the implemented active vision system with two cameras focuses on a landmark and can detect the depth and the direction information.

Also, we have developed 3D graphic simulator before performing experiments for prevention of accident. As a result of experiments, the gripper of the arm of robot can successfully catch the object in workspace.