臺灣博碩士論文加值系統

人機互動是目前接待型機器人重要之應用，而臉部表情所表達之情緒，對於接待型機器人之互動，也是重要之ㄧ環，因此本研究之研究目的在於，開發一款具臉部表情功能接待型機器人頭，透過機器人臉部之仿真人臉皮，呈現快樂、生氣、驚訝、厭惡、悲傷、恐懼、中性、俏皮、鬥雞眼與可愛10種表情。本研究之表情機器人頭，整體架構主要由機構、臉皮支撐架、臉皮與控制系統，四個部份所組成，機構部分包含眉毛模組、眼睛模組、嘴巴模組與頸部模組，整體機構皆由伺服機驅動，共計16個自由度，由於頭部模組化之設計，使得所有模組具備獨立測試，而各個模組僅有2個固定點，因此有快速拆卸、維修之優點。機器人頭顱之臉皮支撐架為RP材料，係利用逆向工程與快速原型技術製作、開發。臉皮部份分為模組製作、臉皮製作與臉皮內層控制點製作三部份，其中伺服機藉由臉皮內層之控制點，達到表情變化之目的，臉皮材料則利用矽膠製作，其材料性質彈性佳、易於拉扯，可使機器人於表情呈現上，更加逼真。控制系統部分使用Qwerk Robot Controller控制機器人頭之伺服機，達到表情變化之目的。

Human-machine interaction has become an important issue for reception type robot application. In this research, we design a face robot which has ten major expressions: surprise, fear, sadness, disgust, happiness, angry, neutral, and four defined facial expressions, the face robot consists of mechanism, face skin supporter, face skin and control system. Modulization is adapted to design the mechanism for achieving further development and fast maintenance, eyebrow module, eyes module, mouth module and neck module are developed for facial expression. Each module can be easily disassembled and be tested independently. Sixteen RC-servos are used to control all mechanisms. Reverse engineering and rapid prototyping are employed to design and develop the robot face skin supporter. The face skin is made of silicone Gel-10 and shaped by mold. A special-designed control point is developed to control the skin. RC-servos activate the control point through the plastic wire for facial expression. The Qwerk Robot Controller is used to control RC-servos for human-machine interaction.

摘要 i
Abstract ii
誌謝 iii
目 錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1-1 研究動機與目的 1
1-2文獻回顧 2
1-3 研究流程 6
第二章 臉皮製作與臉皮支撐架孔位設計規劃 10
2-1 表情定義與整體動作規劃 10
2-2 第二版臉皮製作 13
2-2-1 模具製作 14
2-2-2 臉皮內層控制點規劃 15
2-2-3 矽膠臉皮材料拉力實驗 16
2-2-4 臉皮製作 23
2-3 第三版臉皮製作 23
2-3-1 模具製作 25
2-3-2 臉皮內層控制點規劃 26
2-3-3 臉皮製作 27
2-4 臉皮支撐架孔位規劃與設計 28
第三章 臉部表情機構設計 33
3-1 機器人臉部幾何尺寸 34
3-2 眉毛模組機構 35
3-3 頸部模組機構 39
第四章 硬體組裝與整合 46
4-1 機構組裝 47
4-1-1 獨立模組機構組裝 47
4-1-2 整體模組機構組裝 52
4-2 臉皮、臉皮支撐架與機構之整合 54
第五章 機電系統整合與表情展現成果 56
5-1 機電系統規劃 56
5-2 頭顱伺服機配置 57
5-3 控制器 59
5-4 控制軟體介面 60
5-4-1 Terk Robot Universal Remote軟體介面 60
5-4-2 JCreator軟體介面 63
5-5 表情展現成果 64
第六章 結論與未來發展 69
6-1 結論 69
6-2 問題與討論 69
6-3 未來發展 70
參考文獻 72
附錄A 伺服機簡介 77
A.1 伺服機之內部結構 77
A.2 伺服機之工作與控制原理 78
附錄B Qwerk Robot Controller Hardware Guide 80
附錄C 臉皮製作方法 89
C.1 臉皮材料Silicone Gel-10 89
C.2 Silicone Gel-10 臉皮製作材料明細 94
附錄D JAVA JCreator七種表情連續播放程式 95

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