具模仿能力之智慧型雙足機器人之設計與實現

Design and Implementation of An Intelligent Biped Robot with Motion Imitation Ability

周立柏(Li-Po Chou)

指導教授 ： 王文俊

國立中央大學/資訊電機學院/電機工程學系/碩士(2007年)

摘要

本作品主要是設計製作一台具視覺之人型機器人，此機器人由十七個AI馬達組合而成，有雙手、雙足、頭部，完全類似人型外觀。此機器人不但可以很流暢得自行完成走路前進、後退、左右轉向、側向行走、蹲下、站起、和敬禮等等動作，此外還具有模仿人類動作的能力。機器人以頭上的攝影機當作為它的眼睛，在複雜環境的背景中，能正確辨識人體身上的特殊標記，並以標記之相對位置，辨識人類動作流程，進而即時模仿人類的動作。模仿的動作包含了多變化之雙手動作和下半身動作像站起、蹲下、單腳站立、和單腳抬高懸空，等動作。當人類往左(右)側向行走，機器人也會往左(右)側向行走，當人類前進(後退)時，機器人也會前進(後退)。在模仿人類動作的同時，人身上的所有標記可能有時會跑出機器人的視野之外，它的眼睛也會主動搜尋再找回人身上的所有標記。機器人的動力上採用AI-1001馬達，透過RS-232來進行馬達角度的控制，並搭配自行設計關節連接機構來加強機構的穩定性。控制策略上採用扭力控制、線性內插平滑化、路徑規劃、有限狀態機及重心補償等技術，實現模仿人類的動作。在執行各種動作的同時，永遠保持機器人的平衡穩定是本作品克服的最大的困難。此外只靠2D影像資訊的情況下，能模仿人類一些特殊的動作(包含二維和三維的動作)，則是本作品的最大成就。本作品的技術將帶領機器人研究在與人類互動上能更上ㄧ層樓。

關鍵字

追蹤 ； 模仿 ； 機器人

並列摘要

The goal of this study is to design an intelligent humanoid robot which not only can walk forward, backward, turn left, turn right, walk sideward, squat down, stand up and bow smoothly, but also can imitate some human motions. The robot’s structure is made up by 17 AI motors with some self- design acrylic board connection. It is like a human with two hands, two feet, and a head. The head is a web camera to serve as an eye of the robot. The eye can recognize the color marks pasted on the human body under any complex background. According to the relative positions of those marks, the robot can recognize the human motion and imitate his motion in time. The imitated human motions include the various motions of hand and the lower body motions like “Stand up”, “Squat down”, “Stand by one foot” etc. Furthermore, the robot also can imitate the forward, backward and side walking of the human. When the robot is moving, the marks pasted on human could be out of the robot’s vision. Therefore, its eye can also automatically search the marks. AI-1001 motors are also as the actuators of the robot. The rotation degree of each motor is controlled by RS-232 protocol. The control strategies include torque control, linear interpolation, trajectory generation, finite state mechanism and center of gravity compensation etc. It should be emphasized that maintaining the stability and balance of the robot, when the robot walks, moves and imitates motions, is the main achievement of this work. Moreover, using color marks to guide the robot to imitate human’s motions (including two or three-dimension motions) is the greatest originality of our work. This thesis is a good demonstration for the study on interaction between human and robot.

並列關鍵字

tracking ； imitation ； robot

參考文獻

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