同步表演機器人之建構與成效評估

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姓名

楊承融(Cheng-jung Yang) 查詢紙本館藏

畢業系所

網路學習科技研究所

論文名稱

同步表演機器人之建構與成效評估

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摘要(中)

現今的機器人表演，存在著許多的問題，像是在路徑追蹤時，時常會有找不
到路徑，或是轉彎衝過頭找不到路的情形發生。而且在於表演時，往往都是透過
預先儲存動作的方式去進行，使用者並不能隨意的去更改其內容，當多台在表演
時也常常會出現動作不一致的情況發生。
本研究利用樂高公司所出的NXT Mindstorm 作為研究的工具，在其上面開發
程式，希望藉由機器人的運作，來刺激學生們對於相關機械原理的興趣及空間概
念上面的提升。透過設計的系統，讓學生可以親自去規劃機器人行進路徑及表演
動作，加上了我們的同步系統機制，最後再對實驗者進行問卷訪談，以了解學生
對於機器人表演系統在有用性、易用性、有趣性、穩定性及滿意度上的認知，並
透過訪談去釐清學生對於機器人的問題與看法。
研究結果發現使用者在操作機器人上面，最重視的就是易用性，其次是穩定
性，所以使用者的界面及方便的程度，相當重要，而我們的作法也的確有效的改
善了以往的機器人在轉彎、直行會有不穩定的部份，而同步的功能也讓學生可以
有更多的創意發揮。

摘要(英)

Performances carried on by robots nowadays are still followed by various
problems. For example, when the robots are tracking the path, very often ends up
losing path even though under normal condition or as a consequence of making turns.
Also, talking about its performance, the movements are programmed and stored in
advance, which makes it impossible for the user to change it at ease. Therefore, when
more than one robot is performing at the same time, due to different starting time or
system design, they are almost never move in accordance.
With the hope to arouse students’ interests in mechanical theories and advance
their spatial concepts, this research utilizes LEGO’s NXT Mindstorm as the research
prototype to develop our system. Our design aims at enabling the students to plan the
path and movements of the robot with our synchronizing system. An interview is
casted afterwards in the form of questionnaire to understand the students’ recognition
towards its utility, stability, their degree of interest and satisfactory concerning the
performance system is also necessary for our improvement.
We discover from our research that while operating the robots, users pay the
most attention to the utility of the system and less emphasize on stability. It is
concluded that a convenient interface is very important for users. This experiment
shows that our system effectively improves the robots’ problem in stability and the
synchronizing function which offers the students a better chance to expand their
creativity.

關鍵字(中)

★ LeJos
★ 同步表演
★ TAM
★ 建構理論
★ 機器人穩定性
★ LEGO NXT

關鍵字(英)

★ LeJos
★ Synchronize
★ Constructionism
★ TAM
★ Robot Reliability
★ LEGO NXT

論文目次

中文摘要 ......................................................................................................................... i
Abstract....................................................................................................................... ii
致謝 ...............................................................................................................................iii
目錄 ............................................................................................................................... iv
圖目錄 ........................................................................................................................... vi
表目錄 .........................................................................................................................viii
第1 章緒論.................................................................................................................. 1
1.1 研究背景與動機............................................................................................ 1
1.2 研究目的........................................................................................................ 3
1.3 研究範圍及限制............................................................................................. 4
1.3.1 研究範圍 .............................................................................................. 4
1.3.2 研究限制 .............................................................................................. 4
第2 章文獻探討.......................................................................................................... 6
2.1 建構論及建造論.............................................................................................. 6
2.2 Robot Behavior ............................................................................................... 7
2.3 LEGO ............................................................................................................ 10
2.4 科技接受模型（TAM）.............................................................................. 12
第3 章系統設計........................................................................................................ 15
3.1 機器人介紹................................................................................................... 16
3.2.1 積木部份.......................................................................................... 18
3.2.2 控制部份.......................................................................................... 18
3.2.3 動力部份.......................................................................................... 19
3.2 機器人自主行進控制程式........................................................................... 25
3.3 同步控制系統(Server) ................................................................................. 30
3.4 表演編輯系統............................................................................................... 34
第4 章研究方法........................................................................................................ 37
4.1 研究觀念與架構........................................................................................... 37
4.1.1 認知易用性........................................................................................ 37
4.1.2 認知有用性........................................................................................ 38
4.1.3 活動有趣性........................................................................................ 38
4.1.4 系統穩定性........................................................................................ 38
4.1.5 系統滿意度........................................................................................ 38
4.2 研究假設 ....................................................................................................... 39
4.3 實驗對象 ....................................................................................................... 39
4.4 研究工具 ....................................................................................................... 40
4.5 研究步驟 ....................................................................................................... 44
第5 章結果分析與討論............................................................................................ 45
5.1 樣本基本資料描述....................................................................................... 45
5.2 變項資料的統計........................................................................................... 46
5.3 相關性分析結果........................................................................................... 52
第6 章結論與建議.................................................................................................... 55
6.1 研究結論 ........................................................................................................ 55
6.2 未來工作與建議........................................................................................... 57
參考文獻 ...................................................................................................................... 59
中文部分 .............................................................................................................. 59
英文部份 .............................................................................................................. 59
附錄問卷 .................................................................................................................... 63

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指導教授

黃武元(Wu-yuin Hwang)

審核日期

2009-1-8

推文