Computer Vision-Aided Object Motion by Individual Cameras of Small-Sized Humanoid Robot: A Preliminary Study

The small-sized humanoid robots (SSHR) have attracted considerable attention in research due to their affordability and versatility. The calibration method for the SSHR, Aelos (LeJu Company, China), employed in this study utilizes the black and white checkerboard drawing as the calibration object. The experimental outcomes are 19.57 ± 0.08 (20 cm), 24.59 ± 0.05 (25 cm), and 31.44 ± 0.06 (30cm) in the tests of the camera on the chest, as well as 29.60 ± 0.06 (30 cm), 34.59 ± 0.07 (35 cm), and 40.14 ± 0.07 (40 cm) for measuring the distance between the SSHR and the target. Moreover, under the circumstance of a simpler background of the picture, bounding the s ratio between 28% and 33% enhances the precision of the SSHR’s grasping at the center point of the sponge cube.