臺灣博碩士論文加值系統

本論文以FPGA（Field Programmable Gate Array）軟硬體協同設計方式實現大型人形機器人步態控制器。此一方法相較於一般使用DSP（Digital Signal Processors）、單晶片微控器之純軟體設計方式，軟硬體協同設計可針對系統程序之特性，彈性地規劃軟體程式與硬體模組，有效地達成應用目標。在軟體設計部分，本文以 NIOS II可程式化晶片系統（System on a Programmable Chip）開發人形機器人步態產生器，其主要負責人形機器人線性倒單擺模型（Linear Inverted Pendulum Model）質心軌跡規劃、擺線方法之擺盪腳軌跡規劃以及逆向運動學計算；而硬體設計部分，則以Verilog開發1Mbps高速串列通訊介面來控制人形機器人之關節伺服馬達，以提高系統執行效率。為了驗證此一人形機器人步態控制器之可行性，本文以FIRA HuroCup大型人形機器人之馬拉松比賽進行相關實驗。其以PC環境來開發影像辨識系統，辨識機器人與地上線段之距離和方向差異來進行步態參數決策，並透過串列介面將步態參數傳送到FPGA人形機器人步態控制器，達到人形機器人自主循跡行走之目的。

This study presents a field programmable gate array (FPGA) based hardware/software co-design approach to implement a biped locomotion controller for an adult-size humanoid robot. The proposed hardware/software co-design approach is capable of flexibly arranging hardware and software components and modules in systems according to their characteristics to achieve specific application purposes when compared to dedicated microcontroller based solutions. For the software components, this study uses the NIOS II-based system on a programmable chip (SoPC) technique to generate joint angles with respect to reachable parametric locomotion commands. The software components developed in this work are composed of linear inverted pendulum model (LIPM) based center of mass (CoM) trajectory planning, cycloid trajectory planning for the swing foot and inverse kinematics. The main hardware module in this system is a 1 Mbps high speed serial communication module, and it is used to control the smart servo motors used for actuating joint movements of a humanoid robot. To validate the feasibility the proposed FPGA-based biped locomotion controller, this study employs the FIRA HuroCup marathon game as a test environment. The vision system is implemented with a PC-based system. The image processing and recognition approaches are responsible for recognizing the distance and heading angle to the line segment appeared in front of the robot. The distance and heading angle to the line segment information is further used to determine parametric locomotion commands. Finally, the generated parametric locomotion command is transmitted to the FPGA-based biped locomotion controller to control the robot to autonomously follow a specific marathon track.

誌謝 I
中文摘要 II
ABSTRACT III
目錄 IV
圖目錄 VII
表目錄 IX
第1章 緒論 1
1.1 研究背景 1
1.2 研究動機與目的 1
1.3 論文架構 3
第2章 文獻回顧 4
2.1 微控制器相關研究 4
2.2 影像視覺辨識相關研究 7
第3章 步態控制器開發 9
3.1 系統控制架構 9
3.1.1 軟硬體協同設計之步態控制器開發 10
3.1.2 控制器硬體設計架構 12
3.1.3 高速UART通訊硬體電路設計 13
3.2 機器人步態系統 15
第4章 影像循跡演算法 16
4.1 影像辨識系統 16
4.2 機器人馬拉松競賽規則說明 17
4.3 影像前處理 18
4.3.1 影像旋轉與色彩空間轉換 18
4.3.2 高斯平滑濾波器 19
4.3.3 Canny邊緣偵測 20
4.3.4 膨脹與侵蝕 22
4.4 快速物件連通標記法 24
4.5 影像決策方法 24
第5章 系統實作與實驗測試結果 26
5.1 系統控制架構 26
5.2 控制器硬體設計架構 27
5.3 高速UART通訊硬體電路設計 27
5.4 人形機器人實驗平台 30
5.5 影像處理結果 32
5.5.1 影像旋轉與色彩空間轉換 32
5.5.2 高斯平滑濾波器 36
5.5.3 Canny邊緣偵測 36
5.5.4 膨脹與侵蝕 37
5.5.5 快速物件連通標記法與影像決策 38
5.6 系統測試 40
5.6.1 FPGA資源使用 40
5.6.2 NIOS II CPU系統執行 40
5.6.3 循跡演算法於不同場地之測試結果 43
5.6.4 影像循跡演算法之機器人實際行走軌跡 44
第6章 結論與未來研究方向 45
6.1 結論 45
6.2 未來研究方向 46
參考文獻 47

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