遠端監控功能之順從式足型機器人

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：84

、訪客IP：18.118.142.230

姓名

郭嘉興(Chia-Hsing Kuo) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

遠端監控功能之順從式足型機器人
(Compliant Hexapod Robot with Web-base Remote Monitoring and Control)

相關論文

★ 影像處理運用於家庭防盜保全之研究	★ 適用區域範圍之指紋辨識系統設計與實現
★ 頭部姿勢辨識應用於游標與機器人之控制	★ 應用快速擴展隨機樹和人工魚群演算法及危險度於路徑規劃
★ 智慧型機器人定位與控制之研究	★ 基於人工蜂群演算法之物件追蹤研究
★ 即時人臉偵測、姿態辨識與追蹤系統實現於複雜環境	★ 基於環型對稱賈柏濾波器及SVM之人臉識別系統
★ 改良凝聚式階層演算法及改良色彩空間影像技術於無線監控自走車之路徑追蹤	★ 模糊類神經網路於六足機器人沿牆控制與步態動作及姿態平衡之應用
★ 四軸飛行器之偵測應用及其無線充電系統之探討	★ 結合白區塊視網膜皮層理論與改良暗通道先驗之單張影像除霧
★ 基於深度神經網路的手勢辨識研究	★ 人體姿勢矯正項鍊配載影像辨識自動校準及手機接收警告系統
★ 模糊控制與灰色預測應用於隧道型機械手臂之分析	★ 模糊滑動模態控制器之設計及應用於非線性系統

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

[檢視]

[下載]

本電子論文使用權限為同意立即開放。
已達開放權限電子全文僅授權使用者為學術研究之目的，進行個人非營利性質之檢索、閱讀、列印。
請遵守中華民國著作權法之相關規定，切勿任意重製、散佈、改作、轉貼、播送，以免觸法。

摘要(中)

本篇論文將介紹一種新型態移動機器人設計架構，並且對此機器人做初步的步態控制探討。機器人的架構主要基於順從型之六足機器人所發展，目的是可以在複雜的環境下行走。機器人的架構設計是以六顆致動器為主軸，以及機構的建立、致動器驅動電路與控制器系統等。在實驗上也會對此順從式機器人做一些步行、轉彎等控制，以及爬斜坡、跨越障礙物等測試。
此外，本文將所建立之機器人應用於遠端監控系統，此套系統是採主從式架構，分為伺服端與客戶端。伺服端包含主控電腦、機器人與CCD攝影機，目的是要讓遠端的使用者，透過客戶端應用程式，以網路連結方式登入主控電腦，直接操控在伺服端的機器人，並藉由伺服端之CCD攝影機，將即時影像透過網路回傳給客戶端的使用者，以此方式操縱遠端的機器人，達到基本的遠端監控。

摘要(英)

In this paper, we introduced a novel architecture design of mobile robot, and discussed preliminary control of the robot gait. The design of the robot is based on the compliant hexapod robot system in order to walking over broken and irregular terrain. The architecture of robot, we proposed, consist of the six actuator, mechanism, motor driving circuit and controller system.
Experiment show that hexapod robot can achieve dynamically stable walking and turning, other complex locomotion such as slope climbing and obstacle crossing.
In addition, we applied the hexapod robot to the remote control system. This system is a client-server architecture, consisting of two parts, i.e., the server and the client. On the server side, there are a host PC, hexapod robot and CCD camera. The client user can connect the host PC through the Internet, and control the robot directly. According to the image of the server site in order to achieve the real-time teleoperation.

關鍵字(中)

★ 遠端監控
★ 移動機器人
★ 六足的

關鍵字(英)

★ remote control
★ mobile robot
★ hexapod

論文目次

第一章緒論
1.1 研究動機與目的 1
1.2 文獻回顧 2
1.3 論文架構 3
第二章系統介紹
2.1 前言 4
2.2 系統架構 4
2.3 遠端監控技術 7
第三章順從式足型機器人硬體設計
3.1 前言 11
3.2 順從式機器人簡介 11
3.3 機器人硬體架構與系統規劃 13
3.4 致動器之選用 17
3.4.1 伺服機工作原理 19
3.4.2 伺服機改裝360度旋轉 22
3.5 編碼器 24
3.6 計數器 26
3.7 電子羅盤 28
3.8 MSP430微處理器 30
3.8.1 MSP430簡介 30
3.8.2 計時器模組 30
3.9 串列通訊傳輸 35
3.9.1 MSP430之串列通訊界面 35
第四章遠端控制系統與操作界面設計
4.1 前言 38
4.2 LabVIEW簡介 39
4.3 LabVIEW之網際網路系統 40
4.3.1 TCP /IP 網路協定 40
4.4 LabVIEW之串列通訊界面 43
4.5 影像傳輸 45
4.5.1 ActiveX技術 45
4.6 圖形使用者界面 47
第五章步態規劃與實驗測試
5.1 前言 49
5.2 步態規劃 50
5.3 程式流程介紹 54
5.4 實驗結果 58
5-4-1 機器人前進實驗 58
5-4-2 機器人後退實驗 59
5-4-3 機器人左轉實驗 60
5-4-4 機器人右轉實驗 61
5-4-5 機器人斜坡實驗 62
5-4-6 機器人跨越一層障礙物實驗 63
5-4-6 機器人跨越雙層障礙物 64
第六章結論與建議
6.1結論 65
6.2硬體之未來發展 65
參考文獻 67
附錄 71

參考文獻

[1] Altendorfer, R., Moore, N., Komsuoglu, H., Buehler, M., Brown, Jr. H. B., McMordie, D., Saranli, U., Full, R. J., and Koditschek, D. E., "RHex-A Simple and Highly Mobile Hexapod Robot", Autonomous Robots, vol. 11, pp. 207-220, 2001
[2] Altendorfer, R., Saranli, U., Komsuoglu, H., Koditschek, D., Buehler, M., Moore, N., and McMordie, D., "Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot", 2000
[3] Arena, P. and Fortuna, L., "Analog cellular locomotion control of hexapod robots", IEEE Control Systems Magazine, vol. 22, no. 6, pp. 21-36, 2002
[4] Campbell, D. and Buehler, M., "Stair descent in the simple hexapod 'RHex' ", IEEE International Conference on Robotics and Automation, vol. 1, pp. 1380-1385, 2003
[5] Erkmen, I., Erkmen, A. M., Matsuno, F., Chatterjee, R., and Kamegawa, T., "Snake robots to the rescue!", IEEE Robotics & Automation Magazine, vol. 9, no. 3, pp. 17-25, 2002
[6] Grange, S., Fong, T., and Baur, C., "Effective vehicle teleoperation on the World Wide Web", IEEE International Conference on Robotics and Automation, vol. 2, pp. 2007-2012, 2000
[7] Her, M. G., Hsu, K. S., Yu, W. S., and Karkoub, M., "Analysis and design of haptic telerobotic system", Control Theory and Applications, IEE Proceedings-, vol. 148, no. 4, pp. 306-314, 2001
[8] Hills, J. W. and Jensen, J. F., "Telepresence technology in medicine: principles and applications", Proceedings of the IEEE, vol. 86, no. 3, pp. 569-580, 1998
[9] Hirose, S., "Snake, walking and group robots for super mechano-system", 1999 IEEE International Conference on Systems, Man, and Cybernetics, vol. 3, pp. 129-133, 1999
[10] Kajita, S. and Tani, K., "Experimental study of biped dynamic walking", IEEE Control Systems Magazine, vol. 16, no. 1, pp. 13-19, 1996
[11] Kitano, H., Asada, M., Noda, I., and Matsubara, H., "RoboCup: robot world cup", IEEE Robotics & Automation Magazine, vol. 5, no. 3, pp. 30-36, 1998
[12] McMordie, D., Prahacs, C., and Buehler, M., "Towards a dynamic actuator model for a hexapod robot", IEEE International Conference on Robotics and Automation, vol. 1, pp. 14-19, 2003
[13] Mitsuishi, M., Watanabe, T., Nakanishi, H., Hori, T., Asai, R., and Watanabe, H., "A tele-microsurgery system that shows what the user wants to see", 4th IEEE International Workshop on Robot and Human Communication, pp. 237-246, 1995
[14] Moore, E. Z., Campbell, D., Grimminger, F., and Buehler, M., "Reliable stair climbing in the simple hexapod 'RHex' ", IEEE International Conference on Robotics and Automation, vol. 3, pp. 11-15, 2002
[15] Mori, H. and Sano, M., "A guide dog robot Harunobu-5-following a person", IEEE/RSJ International Workshop on Intelligent Robots and Systems, vol. 1, pp. 397-402, 1991
[16] Pei-Chun, Lin, Komsuoglu, H., and Kodistchek, D. E., "A leg configuration sensory system for dynamical body state estimates in a hexapod robot", IEEE International Conference on Robotics and Automation, vol. 1, pp. 1391-1396, 2003
[17] Pratt, G. A., "Legged robots at MIT: what's new since Raibert?", IEEE Robotics & Automation Magazine ,vol. 7, no. 3, pp. 15-19, 2000
[18] Puente, S. T., Torres, F., Ortiz, F., and Candelas, F. A., "Remote robot execution through WWW simulation", 15th International Conference on Pattern Recognition, vol. 4, pp. 503-506, 2000
[19] Raibert, M., Chepponis, M., and Brown, H., Jr., "Running on four legs as though they were one", Robotics and Automation, IEEE Journal of [legacy, pre - 1988], vol. 2, no. 2, pp. 70-82, 1986
[20] Safaric, R., Sinjur, S., Zalik, B., and Parkin, R. M., "Control of robot arm with virtual environment via the Internet," Proceedings of the IEEE, vol. 91, no. 3, pp. 422-429, 2003
[21] Saranli, U., Buehler, M., and Koditschek, D. E., "Design, modeling and preliminary control of a compliant hexapod robot", IEEE International Conference on Robotics and Automation, vol. 3, pp. 2589-2596, 2000
[22] Saranli, U. and Koditschek, D. E., "Template based control of hexapedal running", IEEE International Conference on Robotics and Automation, vol. 1, pp. 1374-1379, 2003
[23] Saucy, P. and Mondada, F., "KhepOnTheWeb: open access to a mobile robot on the Internet", Robotics & Automation Magazine, IEEE, vol. 7, no. 1, pp. 41-47, 2000
[24] Weisbin, C. R. and Rodriguez, G., "NASA robotics research for planetary surface exploration", IEEE Robotics & Automation Magazine, vol. 7, no. 4, pp. 25-34, 2000
[25] National Instrument, "LabVIEW User Manual", 1998
[26] Texas Instruments, "MSP430xF4xx User’s Guide", 2003
[27] Texas Instruments, "MSP430x44x Datasheets", 2002
[28] Precision Navigation, "TCM2 Electronic Compass Module User’s
manual', 1999
[29] http://www.microsoft.com/windows/NetMeeting/
[30] http://www.futaba-rc.com/
[31] 林榮三, 吳賢財, 謝文哲, 省電型16位元單晶片MSP430入門實務, 滄海, 2003
[32] 蕭子健, 劉建昇,楊雅齡, LabVIEW網路篇, 高立, 2001
[32] 蕭子健, 儲昭偉,王智昱, LabVIEW 基礎篇, 高立, 2001
[33] 蕭子健, 林俊宏, 彭宇豪, LabVIEW 硬體介面篇, 高立, 2001

指導教授

鍾鴻源(Hung-Yuan Chung)

審核日期

2004-7-6

推文