Bionic Design Of19DOF Humanoid Robot And Development Of Its Vision System

With the development of robotics, humanoid robots have went up to the all-round like people that have arm and head from general bipedal like people.Humanoid robots not only have the similar characteristics with human beings inappearance, but also in human intelligence and communication convenience. Itwill integrate into people’s daily life at family services, entertainment and otherfield directly. However, from the current research results of robotics and artificialintelligence, there will be a long way to develop a humanoid robot with flexibleactions like human beings and highly intelligent. There are still many keytechnical issues remain to be improved, which includes mechanical structure,machine vision, control methods and other aspects. Therefore, there will be greattheoretical significance and practical value to study humanoid robot body and itsvision system.This paper purposed to design a19DOF humanoid robot and its visionsystem based on bionics, human body structure and behavior characteristics ofhuman beings. This humanoid robot has the characteristics of beautifulappearance, convenient controllability and low-cost. The ultimate aim is to finishflexible actions like people and implement vision recognition. The papercompleted the following works: firstly, the proportion of human body size andthe movement rule of key joints when proceeding basic walking, turning around,bending over, swing arms and nodding were analyzed. The type of robot jointsand configure the degrees of freedom were Selected, respectively. And a3Dmodel of the19DOF humanoid robot was established in Pro/E. Secondly,commonly used short-range wireless communication technologies were analyzed.The Bluetooth technology was used to implement command systemcommunication and the RF wireless transceiver chip technology was adopted toimplement image acquisition system communication. Thirdly, the PC interface of the humanoid robot’s vision system was developed based on Matlab platform.Mex-file was used to call VC to transmit image information, which transferred byUSB RF image transmission module, to Matlab workspace to execute imageprocessing. Then the action command was sent to the robot controller viaBluetooth communication system through serial. Finally, an experiment oncommand transmission system, image acquisition system and machine visionsystem with MF-AI3robot was carried out.The rapidity and accuracy of humanoid robot’s command transmission,smoothness of image acquisition, validity of vision recognition were validated byexperiment in this paper. The experimental results show that it is feasible tocontrol the proposed humanoid robot with master-slave control mode andwireless communication technology. It will lay a solid foundation for the furtherstudy of precise control of humanoid robot system.