Vision Guided Homing for Humanoid Service Robot

Human beings can easily use eyes to guide arms and hands to reach any particular pose. We have been trying to make robot imitate such intelligent behavior that is called as robotic hand-eye coordination. In this paper we report our research work on vision guided homing for humanoid service robot JINGANG which has active stereo vision and two modular arms. The work is based on the 3D vision reconstruction and geometric kinematics analysis of the modular arms. This intelligent behavior of JINGANG significantly improves its performance by automatically rectifying its original home position and implementing selfhoming guided by stereo vision system. The implementation and experimental studies are also presented in the paper.