機器人技術的進展已經超出自動化工業，並已經被證明應用於保健，娛樂，安全和家庭生活等領域。
本實驗室先前建構了一個輪式人形機器人，用於幫助那些無法獨立進食的人，現今應用於一視覺導引抓取任務之研究平台。其主要是由一全方向輪式移動平台、一個架於輪式移動平台上的固定式身軀、兩個各七自由度的機械手臂、兩個機械手及一個安裝著全景式攝影機與雙軸相機之機械頭所組成。
本論文之目的為提出一種視覺導引控制策略，利用全景式攝影機及雙軸相機，導引機械手臂，賦予人形機器人抓取物件之能力。其基礎建立在兩台攝影機之幾何模型以及兩台攝影機之相對位置關係。最後，藉由驅動人形機器人右手抓取桌子上不同位置之物件之實驗，來評估其性能。實驗結果顯示，藉由機器人頭上兩台攝影機和機器人右手，可以在協調的方式運作，成功的定位及抓取目標物。

Progress in robot technology has extended beyond automation of the manufacturing industry and has proven to be applicable to such areas as health care, entertainment, security and home life. A wheel-type humanoid robot that was constructed to support those who are unable to eat independently is adopted as a research platform for vision-guided grasping tasks. The 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 camera. The objective of this thesis is to propose a vision-guided control strategy to equip the humanoid robot with the ability to grasp the material by the robot arm using a pan-tilt camera and a panoramic camera. The proposed control strategy is based on geometric camera models and the relative location of both cameras. Finally, the grasping performance of the humanoid robot is experimentally evaluated by driving the robotic right hand to grasp a workpiece in various locations on a table. Experimental results demonstrate that both cameras of the robotic head and the right arm of the humanoid robot can function in a coordinated fashion to locate and grasp the target object successfully.

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