A modular design process for developing humanoid mobile robot viebot

Abstract

This paper introduces a design process for developing a humanoid mobile robot, namely VieBot. Stemming from the design process, it is easy to adjust the design and extent robot behaviors to meet customer needs. Our key solution is to split the design into three modules related to robot behavior, kinematic computation and motion control. Base on the results from testbed module under comprehensive testing, the design is gradually improved to satisfy sophisticated requirement of assisting disabled people.