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研究生： 趙凱泓
Kai-hung Chao
論文名稱： 嵌入式機器人於人體姿態辨識與模仿之實現
Realization of human postures recognition and imitation on embedded robot
指導教授： 王文俊
Wen-june Wang
口試委員:
學位類別： 碩士
Master
系所名稱： 資訊電機學院 - 電機工程學系
Department of Electrical Engineering
畢業學年度： 98
語文別： 中文
論文頁數： 46
中文關鍵詞： 模糊控制器 、加速度感測器 、人型機器人 、影像處理 、人體動作辨識
外文關鍵詞： Humanoid robot, G-sensor, Fuzzy controller, Human motion imitation, Image processing
相關次數： 點閱：20  下載：0 
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    • 本論文主要設計一人體動作辨識系統，經由影像處理的方式辨識及紀錄人類的動作，在紀錄的同時並以人型機器人及3D模型做出即時的模仿。此外，人形機器人在模仿的同時能夠經由加速度感測器達到自主平衡的功能。機器人以攝影機當作眼睛，藉由影像處理能在複雜環境的背景中，正確辨識人體身上的特殊標記，並以標記之相對位置，辨識並記憶人體動作流程。依標記點的座標位置建立一人形之多連桿模型，再利用資料庫的標記運動軌跡，讓機器人手舞足蹈，實現模仿人類的動作。模仿的動作包含了各種變化之雙手動作和下半身動作。論文的目標為人體動作的辨識、利用3D人形模型及機器人即時模仿人類的動作。由研究成果顯示，本論文提出之方法確實能夠藉由人體上標記點的位置，並即時計算出人類運動的姿勢，再透過3D人形模型與實際機器人同時展示出人類的運動動作。
    此外，機器人能夠即時模仿人類動作且保持平衡是相當困難的工作，為了防止機器人在模仿人類動作的過程中因為傾斜角度過大而傾倒，所以本論文利用加速度感測器的回授設計了模糊控制器來保持機器人的平衡。

    The goal of this thesis is to design a human motion imitation system which can imitate human motions by recognizing the color marks pasted on the human body under any complex background. By the proposed system, the human motions are shown in real time in the monitor and the humanoid robot can imitate those motions simultaneously. By image processing, the system can calculate the joint angles of the human motion and take them into the 3D human model to imitate human motions. The imitated human motions include some motions such as “raise hand,” “kick forward,” “kick sideward,” and “Stand by one foot” etc. The experimental results show that the human motions can be recognized by image processing. At the same time, the human motions are imitated by a 3D human model and a real humanoid robot simultaneously. The construction of 3D human model and the interface between the human and robot are presented too.
    Moreover, it is difficult for a humanoid robot to imitate human motions and keep his balance simultaneously. In order to avoid the robot falling down when he imitates human motions, we design a fuzzy controller to guarantee the stability of the robot by using a G-sensor.

    摘要......................................................i Abstract.................................................ii 誌謝....................................................iii 目錄.....................................................iv 圖目錄...................................................vi 表目錄.................................................viii 第一章 緒論...............................................1 1.1 研究背景與動機......................................1 1.2 文獻回顧............................................1 1.3 論文目標............................................2 1.4 本文架構............................................3 第二章 系統架構與機構設計.................................4 2.1 系統架構............................................4 2.1.1 電腦端系統架構..................................5 2.1.2 機器人端系統架構................................6 2.2 機構設計...........................................11 2.2.1 機器人自由度設計...............................11 2.2.2 機器人硬體配置.................................12 第三章 影像處理與姿態辨識................................13 3.1 擷取標記點.........................................13 3.2 計算3D角度.........................................14 3.3 3D多連桿模型.......................................17 3.4 透視投影法.........................................19 3.5 馬達控制...........................................22 第四章 運動控制與傳輸協定................................25 4.1 人機介面設計.......................................25 4.1.1 感測器的數值接收...............................25 4.1.2 馬達同步控制...................................26 4.1.3 馬達非同步控制.................................27 4.2 自主平衡...........................................27 4.2.1 控制器的輸入及輸出.............................27 4.2.2 歸屬函數.......................................28 4.2.3 模糊規則庫.....................................29 4.2.4 模糊推論與解模糊化.............................30 4.3 傳輸協定...........................................31 4.3.1 動作封包.......................................31 4.3.2 控制封包.......................................33 4.3.3 回傳封包.......................................34 第五章 實驗成果..........................................35 5.1 實驗流程...........................................35 5.2 機器人模仿.........................................36 5.3 機器人自主平衡.....................................40 第六章 結論與未來展望....................................42 6.1 結論...............................................42 6.2 未來展望...........................................42 參考文獻.................................................44

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