本文主要是提出利用Pica人形機器人手臂自動執行即時畫出人臉素描功能的方法與技術。本研究使用的視覺伺服控制演算法包含兩個同時執行的程式：影像處理程式與手臂控制程式。我們使用一個放置於機器人頭部的CCD攝影機來辨識人臉，捕捉到人臉影像後接著使用視覺影像技術將影像中人臉的輪廓與臉部的特徵擷取出來。再經過一連串程序後可將原始的2D平面素描影像座標轉換成機器手臂的關節座座標。機器人手臂的控制程式處理了運動學、Jacobian的速度運動學、路徑與軌跡的規劃與PID控制。使用PID控制器來控制機器手臂，可以使機器手臂流暢與穩定的執行所指定的移動軌跡，畫出臉部素描。由實驗中可知經由相機拍完照後可以自動執行素描繪畫證明此自動執行素描的方式是成功的，此項技術的應用已經於許多公開的場合中成功展現。

This thesis presents methodologies and techniques of autonomous manipulation of a humanoid robot arm for real time human face portrait application. The arm is controlled smoothly and stably by PID controller according to the given trajectory. Visual servo algorithm is applied in this research which includes two parallel processes: image processing and control processing. One CCD camera is located on the robot head to recognize the human faces, take picture. Computer vision techniques are subsequently used to extract the face contours and features, and convert to a simple face portrait. The original 2D image is transformed commands of controlling the joint coordinates of the humanoid robot arm. The kinematics, velocity kinematics – the Jacobian, path and trajectory planning, and PID controller are subsequently implemented in the robot arm drawing application. Experiments show that the portrait can automatically perform after the camera takes the picture. This application has been performed in several public show occasions with success.

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