| dc.description.abstract | The study work “The design and realization of interactive biped robots” was completed by three members. Three members accomplish the following three tasks, respectively, (A) gesture recognition, (B) basic motions’ control of biped robots, and (C) execution of interactive algorithm for two robots. This thesis focuses on the part (C) execution of interactive algorithm for two robots.
The goal of this research is to design and control a pair of biped robots such that the two robots can cooperate with each other. Humans can command the robots to do some motions by certain of hand gestures. For the mentioned two robots, one is called “Master” and the other is “Slave”. A wireless camera is installed on the top of Master robot as its eye. On the other hand, Slave robot has not vision capability without camera, but it can measure the distance between itself and the object to be carried by its infrared ray sensor. Furthermore, two robots are communicate each other by wireless communication.
In this thesis, Master robot can use its camera to recognize the positions of the object to be carried and the desired destination, and then transport the object from the initial position to the destination. Based on the color marks pasted on Slave robot, Master robot can direct Slave robot to accomplish the following interactive motions. 1. Two robots walk close to each other and shake hands; 2. Slave robot passes the object to Master robot, then Master robot moves the object to the destination; and 3. Two robots carry the object together and transport it to the destination. During their interactive motions, the relative positions between two robots or between the robot and object depend on not only the camera of Master robot but also the infrared ray sensor of Slave robot, such that the interactive motions will be much more accurate. The major achievement of this thesis is that robot vision, infrared ray sensor and wireless communication are integrated to control the robots obeying instruction and working together. | en_US |