摘要
本研究所製作的「遠端互動教學型機器人」主要考量非英語系國家一直短缺優質的英語教師(特別是外籍師資)，尤其是台灣的偏鄉的中小學生。本研究為解決此項缺憾，開發一遠端英語教學代理機器人，讓合格的中小學老師，甚至是居住國外的外國老師，能透過網路操控代理人機器人來教導學生。人形的機器人具有親切的立體外觀，能靠近學生與學生互動，也能突破電視框框的限制，應用較多元的教學方法。教師也能透過VR與各種感測器，獲得遠端環境的臨場感與回饋，讓教師更能投入教學的情境。 本研究分成三大部分特色，一、遠端代理機器人硬體機構、硬體電路、感測器介紹、馬達特色、語音辨識等。二、遠端代理機器人軟體演算、馬達PID控制演算，馬達軌跡撰寫等。三、至國小進行英語實驗教學試教。機器人身長為110公分，仿國小學生體型製作，結構採用鋁擠型、石膏翻模、精油鍍膜。並可以隨時更換外觀衣服，適合各式活動場合等。主要功能可以使操作者於遠端地區控制代理機器人，透過微型遠端攝影機、可以觀察學生的狀況與回饋。操作者穿戴自製協同裝置操作(包含六軸陀螺儀、彎曲感測器、加速度感測器等)， 感應使用者動量軌跡並計算成馬達對應角度而轉換成機器人手臂動作量使手臂能夠反應出相同姿態。透過馬達PID控制演算使轉換後每軸馬達能夠精準的至目標角度。以及透過機械手臂運動學之末端點算出馬達軌跡路線。機器人也結合Android語音辨識系統，增加與人之間的互動，並做出相關回答句子。 本研究也與彰化某大學之兒童英語所合作並至國小進行機器人上課試教，對象為國小4年級課後輔導班，教學內容為英語句子語調及發音會話練習。機器人可以做舉手姿態代表語調上升、放下姿態代表語調下降，於課後也能夠利用語音辨識系統練習。因此，能提升小孩學習興趣，也確實應用遠端代理技術。
並列摘要
“The remote interactive teaching robot” is the main research in the paper. For the purpose of some teachers are busy with events or responsible for many business affairs at school, so they usually can’t show up in the classroom, which will cause courses to lag behind etc. Therefore our team tries to design the Telexistence robot for teachers who can use the wearable devices and put on the most fashionable device, Virtual Reality Glasses (VR glasses), to see what happens in the classroom. The robot was designed kindly and beautifully to attract students and get more attention. Through the feedback from the VR glasses and wearable devices can make teachers feel they are really in the classroom. The feature of our thesis can be divided into three parts. First, the hardware、the structure、sensors and sound recognition system of the robot. Second, the algorithm、PID algorithm and motor control. Last, we make an experiment to teach English in the elementary with the robot. The height of the robot is 110cm and the structure is aluminum. The wearable device contains G-sensor、bending sensor and push button to sensor the variable from a person and the robot can do the same action as well. Besides, we also developed the sound recognition to make students learn their speaking after class. Finally, we cooperated with one of the university in Taiwan to teach English for four-graded students in the elementary school with robot. And we got excellent feedback from the students, and they felt that it was interesting and experienced such a special class.