針對足球機器人之可行進間變速之步態規劃與色彩分割之研究

A Study of Changeable Speed Walking Pattern and Color Segmentation Method for Soccer Robots

范志佳(Chih-Chia Fan)

指導教授 ： 蔡舜宏

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2011年)

https://doi.org/10.6841/NTUT.2011.00016

摘要

本論文首先提出一個可在行進間變速的二足機器人之步態模型，且以三維空間線性倒單擺模式(3D Linear Inverted Pendulum Mode, 3D-LIPM)之數學模型為基礎，取代常見的零力矩點(Zero Moment Point, ZMP)方法進行步行軌跡的建立。接著利用順向、反向運動學架構出機器人之運動模型，結合本論文所提之二足機器人行進間可變速度規劃之數學模型進行軟體模擬。除此之外，本論文將其模擬結果運用於實際足球機器人上進行步態驗證。在機器人影像擷取方面，本論文提出一種特別適合於機器人足球賽中的色彩分割法，此方法能夠使得主體目標顏色更容易設定及擷取。最後，本論文以足球機器人在實際比賽場地上驗證其所提之步態模型及色彩分割法之可行性及有效性。

關鍵字

足球機器員 ； FIRA ； RoboCup ； 二足機器人 ； 3D-LIPM ； 步態 ； 色彩分割

並列摘要

This paper proposes a walking pattern of the biped robot which can change its walking speed, and utilize the 3D linear inverted pendulum mode (3D-LIPM) instead of well-know zero moment point (ZMP) for the basis of robot walking pattern. By combining the conceptions of forward kinematics, inverse kinematics and the proposed mathematical model in this paper, a simulation is illustrated to demonstrate the proposed walking pattern. Besides this, we adopt a soccer robot to demonstrate the proposed walking pattern. By examining the image capture, this paper proposes a color segmentation method which is especially suitable for the robot soccer game. It provides a simpler method for user to adjust the parameter and capture the colors of the main objects. Finally, we utilize the proposed walking pattern and segmentation method to a real competition field to illustrate the feasibility and validity.

並列關鍵字

Humanoid Soccer Robots ； FIRA ； RoboCup ； Biped Robot ； 3D-LIPM ； Walking Pattern ； Color Segmentation

參考文獻

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