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研究生:張格豪
研究生(外文):Ke-Hao Chang
論文名稱:小型人形機器足球員之設計與實作
論文名稱(外文):Design and Implementation of a Small-Size Humanoid Soccer Robot
指導教授:謝銘原謝銘原引用關係
指導教授(外文):Ming-Yuan Shieh
學位類別:碩士
校院名稱:南台科技大學
系所名稱:電機工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2007
畢業學年度:95
語文別:中文
中文關鍵詞:人形足球機器員
外文關鍵詞:Humanoid Soccer Robot
相關次數:
  • 被引用被引用:3
  • 點閱點閱:149
  • 評分評分:
  • 下載下載:7
  • 收藏至我的研究室書目清單書目收藏:1
本論文提出小型人形機器足球員設計與實作方法。其中包括視覺感知子系統、運動控制子系統以及競賽決策子系統三部分。視覺感知子系統利用DSP之高速運算能力、混合型影像特徵擷取流程(包括顏色與形狀特徵)、及配合多條件式顏色樣板模型,使光線變化對顏色辨識之影響降低。於運動控制子系統,本論文提出了以逆向學習法設計兩足機器人之姿態控制器,運用ANFIS架構進行系統鑑別,並設計兩足機器人的平衡控制器,使機器人在面對不同地形或外部干擾時,都能夠即時修正,維持機器人步態平衡狀態。另外,競賽決策子系統則針對人形機器人足球競賽來設計,利用有限狀態機切換行為模式,使機器人能自主決策、進行及完成足球比賽所需之動作及任務。由實驗結果來看,本論文所設計之小型人形機器足球員具有視覺能力、姿態平衡能力、運動控制能力、以及判斷決策能力,為一全自主運作之人形機器人。
This thesis presents the design of a small-size humanoid robot and its application to robot soccer games. In which, there are three sub-systems discussed mainly, that is the visual perception, the locomotion control and the decision-making sub-systems. In the visual perception sub-system, color image processing procedures, which include color and geometry segmentations and the multi-condition color mask model, provide the robot the ability to distinguish those different objects with the same color under varied brightness. Besides, since a high performance DSP is adopted as the visual processor, a real-time robotic vision can be achieved. Moreover, this thesis proposes a design method of biped robot locomotion controllers based on the inverse learning model of ANFIS (Adaptive Neuro-Fuzzy Inference Systems). In which, an integrated ANFIS structure were training to be the system identifier for modeling the inverse dynamics of the biped robot. After the modeling, the resultant parameters can be duplicated as those of the biped locomotion controller to provide favorable control actions. For robot soccer games, the decision-making sub-system based on the finite state machine was proposed to switch behavior modes of the robot according to the visual feedback signals. As the experimental results show, this small-size humanoid robot is capable to play robot soccer games with satisfactory performance.
摘要 iv
英文摘要 v
致謝 vi
目次 vii
圖目錄 ix
表目錄 xii
第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 3
1.3 論文架構 5
第二章 小型人形機器足球員系統簡介 6
2.1 小型人形機器足球員之研究限制 6
2.2 小型人形機器足球員之整體架構 8
2.3 小型人形機器足球員之系統實現架構 10
2.3.1 機構設計與實現 10
2.3.2 電控感知設計與實現 14
2.3.3 軟體開發設計與實現 16
第三章 視覺感知子系統 20
3.1 彩色影像特徵擷取 20
3.2 視覺感知子系統架構 22
3.2.1 顏色分割 24
3.2.2 幾何形狀偵測 28
3.3 本章總結 31
第四章 運動控制子系統 32
4.1 兩足機器人行走之分析 32
4.1.1 機器人運動學 34
4.1.2 機器人動力學 40
4.2 兩足機器人運動控制子系統架構 43
4.3 應用ANFIS於兩足機器人系統鑑別與控制器設計 44
4.4 競賽決策子系統 48
4.5 部分實驗結果 51
4.6 本章總結 53
第五章 實作驗證及討論 54
5.1 實作驗證 54
5.2 PK競賽 55
5.3 障礙物閃避 58
5.4 一對一足球賽 60
5.5 結果討論及本章總結 61
第六章 結論與未來展望 62
6.1 結論 62
6.2 未來展望 63
參考文獻 64
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