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    Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/49692


    Title: 人型機器人之動作模式建立、模擬、及實現;Motion Models Estabilishment, Simulation, and Realization for the Humanoid Robot
    Authors: 王文俊
    Contributors: 電機工程學系
    Keywords: 研究領域:電子電機工程類
    Date: 2011-08-01
    Issue Date: 2012-01-17 19:08:08 (UTC+8)
    Publisher: 行政院國家科學委員會
    Abstract: 第一年我們將提出一個產生人型雙足機器人穩定運動軌跡的方法,使機器人能夠穩定的做出各種基本動作,而不會跌倒,預計可能要完成鞠躬、前踢右腳、前踢左腳、側踢右腳、側踢左腳、前舉右手、側舉右手、前舉左手、側舉左手等動作。我們將對這九個動作以模擬的方式產生穩定的動作軌跡後,再讓實際機器人執行該動作以驗證其穩定性。其中先利用零力矩點(Zero Moment Point, ZMP)及模糊邏輯的觀念,設計了腳踝關節的控制器,再配合線性內插及線性回歸的方法對機器人動作軌跡做修正,使機器人在做動作的過程中,能遵循設計的軌跡,減少零力矩點誤差,穩定(不會跌倒) 的執行規定的動作。而最後將利用電腦模擬及實際機器人的動作驗證所提出方法的穩定性。第二年我們將利用第一年穩定軌跡產生的技術,增加更複雜且人型機器人也常使用到的動作如:起立、蹲下、前走、後退、上半身扭轉、原地全身旋轉、上樓梯及下樓梯。並整合第一年的九個基本動作,建立了十六個穩定動作軌跡的資料庫,使機器人能夠依資料庫中的穩定動作軌跡達成指定的動作。此外,我們預計使用影像處理的方式擷取人體關節上標記點的移動軌跡作為機器人動作的參考軌跡,再利用第一年穩定軌跡產生的演算法修正參考軌跡,使機器人能夠穩定的做出更複雜的動作而達到模仿人類動作的功能。第三年將把第一年及第二年的機器人實驗再加上壓力感測器於腳底,以加強機器人的穩定平衡控制。並建立兩個人機介面,一個為針對不同人型機器人,也可以建立動作軌跡。另外一個人機介面,可以讓使用者隨意選取資料庫中動作並組合起來,讓機器人就會照那組合動作去實現那些動作,或讓機器人看一段人類舞蹈,就學習起來模仿跳出那段舞蹈。This is a three years project. To generate a stable basic motion trajectory for each motion to a humanoid robot is the objective of the first year. The humanoid robot can follow the trajectory to do the corresponding motion stably. These motions include bowing, kicking one foot forward or sideward, raising one hand forward or sideward, etc. The trajectories are generated by computation and simulation, then let the humanoid robot perform the motion by following the corresponding trajectory to verify the stability performance. The process of trajectory generation utilizes zero moment point (ZMP) concept and fuzzy logic to design the control of ankle angle, and then the trajectory is modified by linear interpolation and function approaching methods. Therefore the trajectory can apply to the robot such that the robot can do the motion stably and smoothly. In the second year, we will keep generating more trajectories for the more motions, such as standing up, squatting, walking forward or backward, body turning, going up or down stairs, etc. Then the all motion trajectories are collected into a data base such that the robot can do any motion in the data base stably. Furthermore, we paste 13 color marks in the human body and then recognize and record the motion trajectory when the human moving with color marks. Therefore, the human motion trajectories can be referred to generate the initial trajectories which will be modified by the technique of the first year to generate the final trajectories. With the aids of color mark recognition, the robot can imitate human complicated motions. In other words, after the robot sees a humans dance, then it can imitate the human to dance. In the third year, some pressure sensors are set under the soles of the robot’s feet to improve the motion stability control of the robot. Moreover, we will establish two man-machine interfaces, one is for users to generate motion trajectories for different humanoid robots, and the other is for users to choose several different motions and arrange them in order, then the robot can follow the arranged motions order to do the motions. 研究期間:10008 ~ 10107
    Relation: 財團法人國家實驗研究院科技政策研究與資訊中心
    Appears in Collections:[電機工程學系] 研究計畫

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