本論文建構一台輪式人形機器人，其主要由全方向輪底盤、雙六自由度機械手臂及視覺系統所組成。考量機器人的整體穩定性、外觀及應用領域，特別在機器人的尺寸及搭載之硬體的安排上加以設計。在人機協同搬運物件的應用上，所建構的機器人利用力覺與視覺資訊來偵測人類的意圖；視覺資訊是經由RGB-D攝影機所提供，而力覺資訊的估測是透過機械手臂上每個馬達的電流回授訊息計算得到。本研究提出機械手臂運動及機器人底盤移動的兩個控制策略，機械手臂的控制策略首先分成力覺的阻抗控制及視覺的阻抗控制，再透過力覺及視覺阻抗控制所得到的指令融合成機械手臂最終的位置命令。在機器人移動的控制策略上，僅利用視覺的阻抗控制，其中機器人透過人機之間的距離來感知人類的意圖，並計算出給予機器人底盤的速度與位置指令，使機器人的移動具有順應性。最後，應用所提出之控制策略進行人機協同搬運物件的實驗，來驗證此方法之有效性。

This study constructs a wheeled humanoid robot, which is mainly composed of an omni-directional mobile base, two six-degree-of-freedom robot arms, and a vision system. To meet the requirements of overall stability, appearance and application area of the humanoid robot, the size of the robot and the arrangement of the equipped devices are specially designed. In the application to human-robot collaboration in material handling, the constructed robot detects human’s intentions from the haptic and visual information. The visual information is provided by a RGB-D camera, while the haptic information is estimated through the calculation via the current fed back from each motor. Two motion control strategies are proposed for the arms and the mobile base of the robot. The control strategy of each robot arm is first decomposed into the haptic impedance control and the visual impedance control. The decisions by haptic and visual impedance control are then fused to achieve the position command of the robot arm. As to the control strategy of the mobile base, only the visual impedance control is necessary, where the robot detects the human intention through the distance from the human and acts in some compliant way by sending position and velocity commands to the mobile base. Finally, a set of experiments are conducted to verify the effectiveness of human-robot collaboration in material handling by the constructed humanoid robot using the proposed motion control strategies.

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