Research on Biped Humanoid Robot

-Trajectory Generation for 7-DOF Arm and Object Recognition-

Abstract

The KBHR (Kanagawa Biped Humanoid Robot) that is composed of 42 DOFs have been developed. This paper describes a trajectory generation method for 7-DOF manipulators of the KBHR and a robot vision-based object recognition method. The trajectory generation method is based on numerical analysis using Jacobian pseudo-inverse and transpose matrix. In order to recognize objects, an OpenCV image processing library is used. Through an experiment recognizing an object and handing over it to a person, the effectiveness of the trajectory generation algorithm and the object recognition methods is confirmed.