| 摘要(英) |
The goal of this thesis is to design a robot with sight which can play swing and recognize image simultaneously. In the swing motion, the robot can be controlled to swing to any desired degree even there is some disturbance existing in the swing. The robot not only can recognize the target (green ball) when it is still, but also can search the target and estimate the distance between the target in the swing such that the robot can attack the target at the right time and at the right position. The robot is made up by eleven AI motors and those AI motors are connected by acrylic boards. Further, there is a USB camera as its head and eye. We can control the rotating degree of the motor by PC through RS-232 protocol and detect the degree of the motor from feedback for adjust the controlling parameters. In control strategy, we control the head of the robot to search and recognize the target, control the robot’s body and foot to swing to the desired degree, and control the hand to attack the target accurately in the swing motion. Moreover, DirectShow technology is used to speed up the image process. In order to reach the satisfactory control performance in the fast swing motion, several asynchronous programs are used in this thesis. Integrate those programs efficiently, reduce the complexity and mistakes of the system and achieve the control objectives are the greatest accomplishments of this thesis. |
| 參考文獻 |
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[11] Mega Robotics之網站 http://www.megarobotics.com/en_main.htm
[12] 高空盪鞦韆之網站 http://www.ttvs.cy.edu.tw/kcc/934cha/c1.htm
[13] 機器鯉魚之網站 http://www.communistrobot.com/videos.php?sorted=ratedesc&limit=%&page=&robotid=53
[14] 機器蜻蜓之網站http://www.t3.co.uk/news/247/general/general/dragonfly_robot_filmed
[15] 日本機器人競賽之網站http://robo-one.com/
[16] 魔術方塊機器人之網站http://jpbrown.i8.com/cubesolver.html
[17] 寵物恐龍之網站http://www.ugobe.com/pleo/index.html
[18] WE-4RII機器人之網站http://www.takanishi.mech.waseda.ac.jp/research/eyes/we-4rII/index.htm |
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