近年來，人形機器人已經逐步涉及人類日常的居家生活、安全和衛生保健。本論文的目的在於提出一個視覺導引控制策略，驅使類複眼機器人執行抓取目標的任務。首先，本論文將抓取任務由多個行為模式所組成，其中，基於視覺的行為模式是以位置為基礎的看而後動的控制策略來驅動機械手掌逼近目標，並且依序執行所規劃的行為模式來完成抓取的任務。最後經由實驗將待抓物放置在桌面的不同位置，藉由控制機器人左手掌的逼近及抓取來評估其定位性能。實驗結果顯示，所提出的一個基於行為模式架構的以位置為基礎看而後動的視覺導引控制策略，可使類複眼人形機器人完成夾取待抓物之工作任務。

In recent years, humanoid robots have been gradually involving in home life, security and health care. The objective of this thesis is to propose a vision-guided control strategy for a humanoid robot with a compound-like eye to perform a grasping task. The grasping task is first decomposed into some behaviors. In the vision-based behaviors, a position-based look-and-move control strategy is presented for the robotic hand to approach the target. These behaviors are then executed in turn to perform grasping tasks. Finally, the positioning performance of the humanoid robot is experimentally evaluated by controlling the robotic left hand to approach and grasp a workpiece in various locations on a table. Experimental results reveal that the proposed vision-guided control strategy with a behavior-based look-and-move structure ensures the humanoid robot with a compound-like eye can perform pick-and-place operations.

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