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研究生:顏志豪
研究生(外文):YAN,JHIH-HAO
論文名稱:以 Unity 遊戲引擎模擬蛋型機器人之運動
論文名稱(外文):Using the Unity Game Engine to Simulate the Movement of an Egg-shaped Robot
指導教授:許宏銘許宏銘引用關係
指導教授(外文):Nobert Michael Mayer
口試委員:徐超明莊貴枝
口試委員(外文):Hsu Chao-mingCHUANG, KUEI-CHIH
口試日期:2022-07-14
學位類別:碩士
校院名稱:國立中正大學
系所名稱:電機工程研究所
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:2022
畢業學年度:110
語文別:英文
論文頁數:46
中文關鍵詞:Unity遊戲引擎物理引擎蛋型機器人模擬球型機器人
外文關鍵詞:Unity Game EnginePhysics engineEgg-shaped robotsimulationSpherical robot
相關次數:
  • 被引用被引用:0
  • 點閱點閱:169
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:1
誌謝辭 II
摘要 III
ABSTRACT IV
CONTENTS V
LIST OF FIGURES VII
LIST OF TABLES VIII
I. INTRODUCTION 1
1.1. Research background 1
1.2.Related research 2
II. RESEARCH METHODS 4
2.1. Kinematic 4
2.1.1. Angular momentum 4
2.1.2. Rigidity 5
2.1.3. Precession 6
2.1.4. Coordinate systems 10
2.1.5. Moment of inertia 11
2.2. Software introduction 13
2.2.1 Unity3D 13
2.2.2. Blender 28
III. EXPERIMENT RESULT 30
3.1. Experimental coordinate system 30
3.2. Egg robot rolls forward 31
3.3. Egg robot rolls left 33
3.4. Egg robot rolls right 35
3.5. Compare with real egg 37
3.6. Compare with ODE 40
IV. CONCLUSION 43
4.1. Conclusion 43
REFERENCES 44
VITA 46


1.Wang, C.-C., et al. Mechanical and system design of Egg shape robot. in 2017 International Automatic Control Conference (CACS). 2017. IEEE.
2.Unity Technologies. 2022; Available from: https://unity.com/.
3.Mattingly, W.A., et al. Robot design using Unity for computer games and robotic simulations. in 2012 17th International Conference on Computer Games (CGAMES). 2012. IEEE.
4.Meng, W., et al. ROS+ unity: An efficient high-fidelity 3D multi-UAV navigation and control simulator in GPS-denied environments. in IECON 2015-41st Annual Conference of the IEEE Industrial Electronics Society. 2015. IEEE.
5.Wang, C., et al. Virtual Simulation of Fruit Picking Robot Based on Unity3d. in Journal of Physics: Conference Series. 2020. IOP Publishing.
6.Craighead, J., J. Burke, and R. Murphy. Using the unity game engine to develop sarge: a case study. in Proceedings of the 2008 Simulation Workshop at the International Conference on Intelligent Robots and Systems (IROS 2008). 2008.
7.Yang, K. and J. Jie. The designing of training simulation system based on unity 3D. in 2011 Fourth International Conference on Intelligent Computation Technology and Automation. 2011. IEEE.
8.Yoon, J.-C., S.-S. Ahn, and Y.-J. Lee. Spherical robot with new type of two-pendulum driving mechanism. in 2011 15th IEEE International Conference on Intelligent Engineering Systems. 2011. IEEE.
9.Halme, A., T. Schonberg, and Y. Wang. Motion control of a spherical mobile robot. in Proceedings of 4th IEEE International Workshop on Advanced Motion Control-AMC'96-MIE. 1996. IEEE.
10.Bicchi, A., et al. Introducing the" sphericle": an experimental testbed for research and teaching in nonholonomy. in Proceedings of International Conference on Robotics and Automation. 1997. IEEE.
11.Al Mamun, A., et al. Tracking control of the gyrobot-a gyroscopically stabilized single-wheeled robot. in 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005. 2005. IEEE.
12.Maciel, A., et al., Using the PhysX engine for physics‐based virtual surgery with force feedback. The International Journal of Medical Robotics and Computer Assisted Surgery, 2009. 5(3): p. 341-353.
13.Mondesire, S.C., et al., Physics engine benchmarking in three-dimensional virtual world simulation. MODSIM World, 2016: p. 5-8.
14.Blender. 2022; Available from: https://www.blender.org/.


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