近十年來，機器人領域技術的進步已將各種服務型機器人帶至人類的日常生活中。現今，人們對於人形機器人之需求日以俱增。本研究之主要目標為提出一視覺導引控制策略，並透過雙眼立體視覺系統使人形機器人從事物件抓取的任務。首先將抓取任務分成幾個基本行為，其中在視覺環境下的行為乃利用一影像為基礎看而後動之控制策略控制機械手臂調整其姿態，藉由結合這些基本行為並依序地執行，使機器人完成抓取任務。最後，利用將目標物置於工作平台上數個不同的位置，並控制機器人左手掌逼近以抓取目標物的實驗，可評估手臂的定位性能。實驗結果顯示，本研究所提出行為模式下以影像為基礎之看而後動的視覺導引控制策略，可使人形機器人完成物件搬運的任務。

Over the last decades, progress in the robot technology has brought various functional robots to human’s daily life. Recently demand for humanoid robots is increasing. The objective of this thesis is to propose a vision-guided control strategy for a humanoid robot to perform a grasping task using binocular stereo vision. The grasping task is first decomposed into some basic behaviors. In the vision-based behaviors, an image-based look-and-move control strategy is presented for the robotic hand to adjust its pose. These behaviors are then combined and 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 behavioristic image-based look-and-move structure ensures the humanoid robot can perform pick-and-place operations.

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