臺灣博碩士論文加值系統

在電腦技術高度發展的今天，機器人的運用已不再侷限於工業界的生產線，例如:醫療、保全、太空和軍事等…..到處都可以看到機器人技術的應用。目前，在新興的機器人產業之中，娛樂性質的機器人已經逐漸成為熱門的話題，寵物型態的機器人更是變成知名的暢銷產品，而這也因此吸引釵h的學術單位和大公司在過去的幾年相繼投入相關的研究。
本論文的目的是要建構一隻具備完整行動能力的四足寵物機器人”羅培三號”。羅培三號具備比羅培一號和二號還要完整的釵h性能，它可以利用本身各關節的伺服馬達來完成向前走、向後走、原地左轉、原地右轉、站立、點頭…..等等動作，它的架構設計讓它能擁有比以往更順暢的走動步態和更有效率的資訊處理能力，且它還具備避障、跌倒回復、隨機回應與睡眠模式等弁遄C而羅培三號也兼具多樣感測的弁遄A可利用多感測器演算法與數位邏輯來達成決策，以其控制機器人與外界環境之間的相互互動。

Today, with the rapid growth of computer and robotic technology, the applications of robots are not restriction on industry production line. The robotic systems have been successfully applied to dangerous environments, surgery, entertainment, space exploration, farmland, military, service, etc. And among the oncoming robot industries, entertainment robots had been a hot talking-point gradually, and the pet-type robot also started to become a best-seller. And this high market growth makes many scholarly researches and companies’ investment started to focus on this field in the last ten years.
The objective of this thesis is to develop a quadruped pet-type robot, “LUOPET III”. LUOPET III has the performance that is more intact than LUOPET Iⅈ it can use its joint servo motors to move forward, backward, rotate right, rotate left, stand up, node and sit down; its architecture design can make it able to own smoother walking gait and more efficient information processing ability; and it also owns the function of obstacle avoidance, falling down decision, sleep mode, and random response. In addition, LUOPET III owns several types of sensors and can also use multisensor integrated algorithms and digital logics to realize the interaction between the robot and the outside environment.

摘要...I
Abstract...II
誌謝...III

Chaper 1: Introduction...1
1.1 Motivation...1
1.2 Objectives...2
1.3 The advantages of multisensor system...3
1.4 Thesis organization...6

Chaper 2: Literature Review...7
2.1 AIBO...7
2.1.1 Design concept of AIBO...9
2.1.2 AIBO’s anatomy...10
2.2 NeCoRo...11
2.2.1 The specifications of NeCoRo...13
2.3 Other walking robots and pet robots...14
2.3.1 PaPeRo...15
2.3.2 DTR-01B...18
2.3.3 Paro...19
2.3.4 Banryu...20
2.4 Distributed computing...22
2.4.1 Goals...22
2.5 A brief review of multisensor fusion and integration...25
2.5.1 Multisensor integration...25
2.5.2 Multisensor fusion...27
2.5.3 Algorithms for multisensor fusion and integration...28
2.6 Sequential logic...29
2.6.1 Synchronous and asynchronous sequential logic...30
2.6.2 The advantage of sequential logic...31

Chaper 3: The Hardware Design of LUOPET III...35
3.1 Skeleton...35
3.2 Actuator...36
3.3 Sensor technologies and applications...39
3.3.1 Photoelectric sensor...40
3.3.2 Pyroelectric body sensor...44
3.3.3 Photoresistor sensor...46
3.3.4 Piezo-gyro sensor...48
3.3.5 Mercury switch...50
3.4 Single-chip processor...50
3.5 Power...52
3.6 Speaker and control circuit...53

Chaper 4: Control System...55
4.1 Distributed operating architecture for LUOPET III...55
4.1.1 The overall system architecture...57
4.1.2 The characters of system architecture...59
4.2 Driver subsystem...62
4.2.1 The operating procedures of driver subsystem...63
4.2.2 The manner of typical gait...64
4.2.3 The realization of the gaits of LUOPET III...67
4.3 Sensor subsystem...72
4.3.1 The Linear congruential method...73
4.3.2 The function of obstacle avoidance...75
4.3.3 The methods of information fusion...82
4.4 Central control unit...86
4.4.1 The operating procedures of central control unit...86

Chaper 5: Contribution...92
5.1 Compare to LUOPET I & II...93

Chaper 6: Conclusion...94

Reference...95

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