輔以影像辨識之智慧型互動娛樂機器人

本論文的主要目的是自行設計與製作一擁有雙手之人形半身機器人，再應用影像處理、辨識以及馬達定位與控制，來完成能陪同主人一起玩Wii的智慧型互動式娛樂機器人。此機器人能操作遊戲主機Wii的特殊體感遙控器，達到能與使用者互動的娛樂效果。本互動式娛樂機器人在系統上主要分為兩部分：(1)機器人系統：首先使用robotis公司所生產之RX-64與AX-12 AI馬達作為機器人之運動關節，再使用PVC板製作機器人的連接機構與主體，最後組裝成為一具擁有雙手的半身人形機器人。機器人的控制中心使用電腦，並以robotis公司的USB2Dynamixel卡，作為電腦與馬達信號轉換介面。電腦與AI馬達使用串列信號傳輸，馬達依信號的ID接收控制信號，以完成機器人一連串的動作。 (2)影像辨識：在機器人頭部設置COMS Webcam，使用CMOS Webcam擷取Wii遊戲的影像資訊，並將影像傳給個人電腦，再進行影像處理與辨識，然後計算出機器人的運動路徑，將運動路徑的資訊傳給機器人系統，以控制AI馬達動作，完成一個完整的機器人之智慧型互動娛樂。本機器人以實用性與娛樂性為設計方向，希望能突破過去機器人昂貴又冷冰冰的觀念，設計能更貼近使用者。希望此機器人的完成能提供各個家庭多元的娛樂。

關鍵字

智慧型互動娛樂機器人；影像辨識； AI馬達

並列摘要

The half-length humanoid robot with two hands is designed and produced by author in the first. Next, the author integrates all of the image recognition, the robotic kinematics, the path planning methods, and the approaches of the AI motor into the Intelligent Interaction Entertainment Robot which can play the game of the Wii play station with the master. This robot can interact with the master to appear more entertaining effects by operating the Wii Remote. The Intelligent Interaction Entertainment Robot is described to two parts as follows: (1) The robotic system: This robot is made up by the RX-64 and AX-12 motors with some PVC connections. The computer is the control center of the robot. They use serial transmissions between the motors and the computer by using the USB2Dynamixel card. The computer can send the commands to all motors to archive the desired motions by the USB2Dynamixel card and the IDs of the motors. (2) The image recognition: The COMS Webcam is set up on the head of this robot. The COMS Webcam is used to catch the image information of the Wii game, then the images are sent to the computer to recognize and analysis. By the results of the image recognition, the moving paths of the robot are calculated by computer. The commands of the moving paths are sent to AI motors to achieve the desired motions. The designed direction of this robot is practicability and entertainment. We hope this intelligent interaction entertainment robot can be commercialized and bring rich entertainment for all families.

並列關鍵字

Intelligent Interactive Entertainment Robot ； Image Recognition ； AI motor

參考文獻

[1] B. Y. Li, H. H. Xie, X. H. Feng, “An Investigation on the Writing System of a Manipulator”, Journal of Foshan University (Natural Science Edition), vol. 17, No. 2, 1999.

Google Scholar

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