Vision-Based Motion for a Humanoid Robot

Author

Khalid Abdullah Alkhulayfi, Portland State UniversityFollow

Sponsor

Portland State University. Department of Electrical and Computer Engineering

First Advisor

Marek Perkowski

Date of Publication

Summer 7-13-2016

Document Type

Thesis

Degree Name

Master of Science (M.S.) in Electrical and Computer Engineering

Department

Electrical and Computer Engineering

Language

English

Subjects

Androids -- Design and construction, Robots -- Design and construction, Computer vision, Robots -- Kinematics, Robots -- Motion

DOI

10.15760/etd.3173

Physical Description

1 online resource (viii, 137 pages)

Abstract

The overall objective of this thesis is to build an integrated, inexpensive, human-sized humanoid robot from scratch that looks and behaves like a human. More specifically, my goal is to build an android robot called Marie Curie robot that can act like a human actor in the Portland Cyber Theater in the play Quantum Debate with a known script of every robot behavior. In order to achieve this goal, the humanoid robot need to has degrees of freedom (DOF) similar to human DOFs. Each part of the Curie robot was built to achieve the goal of building a complete humanoid robot. The important additional constraints of this project were: 1) to build the robot from available components, 2) to minimize costs, and 3) to be simple enough that the design can be replicated by non-experts, so they can create robot theaters worldwide. Furthermore, the robot appears lifelike because it executes two main behaviors like a human being. The first behavior is tracking where the humanoid robot uses a tracking algorithm to follow a human being. In other words, the tracking algorithm allows the robot to control its neck using the information taken from the vision system to look at the nearest human face. In addition, the robot uses the same vision system to track labeled objects. The second behavior is grasping where the inverse kinematics (IK) is calculated so the robot can move its hand to a specific coordinate in the surrounding space. IK gives the robot the ability to move its end-effector (hand) closer to how humans move their hands.

Rights

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Persistent Identifier

http://archives.pdx.edu/ds/psu/18372

Recommended Citation

Alkhulayfi, Khalid Abdullah, "Vision-Based Motion for a Humanoid Robot" (2016). Dissertations and Theses. Paper 3176.
https://doi.org/10.15760/etd.3173