臺灣博碩士論文加值系統

中文摘要
近十年來，由於電子及控制技術的進步，機器人不僅是設計來執行危險或自動化的工作，也能與人類進行友善的接觸；因此，機器人的功用已逐漸地由工廠自動化，轉變為與人類間之互動，例如:人們非常期待，機器人可於家庭、辦公室和醫院等日常生活環境中，協助人類。尤其，由於人形機器人擁有擬人的外形、具親和力的設計及在人類生活環境中的智能等要素，使得人形機器人成為眾所期盼的對象，而為滿足消費者的需求，近幾年來，已開發出各式各樣的人形機器人。
本研究建構了一個類人形機器人，以作為在人形機器人領域的一個先期研究。所開發之類人形機器人主要由一輪式移動平台、一個架於輪式移動平台上的固定式身軀、一個七自由度的機械手臂、一個七自由度的機械手掌及一個五自由度的雙眼機械頭所組成。並提出類人形機器人協調式視覺導引控制架構，此控制架構可分為兩個主要部分：一、以影像為基礎看而後動之控制架構;其整合了用以控制雙眼機械頭進行搜尋及鎖定的二個控制策略，二、以位置為基礎看而後動之控制架構;在雙眼機械頭的協助下，其整合了用以驅動機械手臂抓取目標物體的二個控制策略。而所提出的影像處理法則，於自然環境中，能增加快速偵測目標物體的感知能力，因而可減少影像處理的計算負擔。
最後，以三組實驗來驗證理論的推導與類人形機器人的性能。實驗進行時，將平行六面長方體、具握把的杯子及具方形底的瓶狀容器等三個物體放置於平台上，而在每一組實驗中，分別選擇其中一個作為目標物體。實驗結果顯示，類人形機器人的機械頭及機械手臂，能互相協調來決定目標物體的所在，並成功地抓取該物體。

Abstract
With advances in electronics and control technology, robot manipulators have, in the recent decade, been designed not only to perform hazardous or automated tasks, but also to interact with humans in a friendly manner. The function of robotic systems has thus increasingly shifted from industrial automation to human interaction. For instance, robots that assist humans in daily environments such as in offices, homes and hospitals are highly desired. In particular, humanoid robots are widely anticipated to emerge owing to factors such as anthropomorphism, friendly design, and intelligence within human living environments. To fulfill these consumer demands, several humanoid robots have been developed in recent years.
This work constructs an anthropomorphic robot as a preliminary research of humanoid robots. The anthropomorphic robot developed herein comprises mainly a wheeled mobile base, a fixed torso mounted on a mobile base, an 7 D.O.F. robot arm, an 7 D.O.F. robot hand and an 5 D.O.F. robotic binocular head. A coordinated visually guided control structure is then proposed for this anthropomorphic robot. The control structure can be divided into two major parts: (a) the image-based look-and-move control structure integrated with two control strategies used to control the saccade and fixation of the robotic binocular head and (b) the position-based look-and-move control structure integrated with two control strategies employed to control the robot arm to retrieve a target object, using the coordinated robotic head. Image processing algorithms are also proposed to increase the perception capability of rapidly detecting the location of a target object in a natural environment, thus reducing the computational burden for image processing.
Finally, three sets of experiments are conducted to verify the theoretical derivations and the performance of the anthropomorphic robot. Three objects, i.e., a rectangular parallelepiped, a cup with a handle and a bottle-shaded container with square bottom, are placed on a table, with one selected as the target object in each set of experiments. Experimental results indicate that the robotic head and the robot arm of the anthropomorphic robot can coordinate with each other to locate and grasp the target object successfully.

中文摘要i
英文摘要ii
誌謝iii
目錄iv
圖目錄vii
表目錄x
第一章 緒論1
1.1前言1
1.2研究動機與目的1
1.3文獻回顧2
1.4本文架構4
第二章 類人形機器人之設計5
2.1類人形機器人之機構設計5
2.1.1 雙眼機械頭之設計8
2.1.2 機械手掌及機械手臂之設計10
2.1.3 輪式移動平台之設計15
2.2類人形機器人之控制系統15
2.2.1 視覺感測器16
2.2.2 影像擷取卡17
2.2.3 雙C6X DSP PCI卡18
2.3完整系統架構20
第三章 類人形機器人之運動模型之建立與軌跡規劃23
3.1座標系統23
3.2機械手臂之順向運動學推導25
3.3機械手臂之反向運動學推導29
3.4機械手臂工作空間直線運動之路徑規劃32
3.5機械手掌之順向運動學推導35
3.6機械頭與機械手臂之座標轉換38
第四章 攝影機校正41
4.1攝影機幾合模型41
4.2攝影機校正模型43
4.2.1 參數表示43
4.2.2 估測Homography44
4.2.3 解得內部參數45
第五章 影像處理48
5.1快速物體位置估測48
5.2物體位置描述及識別52
5.3物體特徵之萃取與特徵關聯58
第六章 類人形機器人之頭手協調抓取控制62
6.1決定物體位置62
6.1.1 靜態雙眼立體幾何架構63
6.1.2 物體的位置及方位65
6.2類人形機器人雙眼影像伺服控制器之設計69
6.2.1 掃視69
6.2.2 凝視控制：鎖定和追?72
6.3類人形機器人機械手臂影像伺服控制器之設計76
6.3.1 判定手臂工作空間之控制策略76
6.3.2 逼近及抓取物體之控制策略77
6.4協調式視覺導引控制架構81
第七章 實驗82
7.1實驗設置82
7.2攝影機模型及機器人頭手座標系轉換84
7.3類人形機器人手臂之直線運動85
7.4類人形機器人頭部之視覺控制88
7.5類人形機器人之協調控制93
第八章 結論97
8.1結果與討論97
8.2未來展望98
參考文獻99
自述100

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