Vision-based Autonomous Humanoid Robot Design

• Main Authors: Kai-Hsiang Huang, 黃楷翔
• Other Authors: Ching-Chang Wong
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/51307066642526161416

碩士 === 淡江大學 === 電機工程學系碩士班 === 94 === In this thesis, a design method of a vision-based autonomous humanoid robot system with multiple functions and high efficiency is proposed. The drawing software, SoildWorks, is applied to design the mechanism of robot. A Nios II developmental board is used to be the motion controller of robot. BCB is applied to establish a human-machine interface for designing and planning actions of robot. A 16-bit processor, μ’nsp, made by Sunplus is used to process the image captured by a CMOS sensor to find some objects and make decision. The structure of robot can be described by five items: (1) Mechanism: Twenty-six joints are design for the humanoid robot so that it can walk and shoot the ball. Each joint is implemented by a server motor and three types of server motors with different torques are used for this robot according to the desired force of joint. (2) Motion control center: A Nios II developmental board is used as a motion control center. Some motion controlled data are constructed by a trial-and-error method and stored in the flash memory. The stored data will be accessed to enable each server motor so that the robot can do the desired motion. (3) Human-machine interface: A human-machine interface, which can transmit action data to the robot by a RS-232 serial transmission, is constructed so that the action can be efficiently adjusted by a 3D action simulation. Moreover, the broken probability of server motor can be reduced by locking the rotational range of sever motor. (4) Vision and tactic: The vision data is captured by a CMOS sensor and one assigned color is applied to recognize the object. A finite-state transition mechanism with three states: (a) find the ball, (b) track the ball, and (c) shoot the ball, is constructed in the tactic so that the implemented robot can autonomous shoot. The tactic determines which state is used according to some given condition. (5) Sensor application: The gyroscope, infrared sensor, and electronic compass are respectively used to let the robot can walk on an uneven terrain, avoid obstacles, and adjust the walk direction by itself. Some experimental results of basic walk, obstacle avoidance, and autonomous shoot are presented to illustrate that the implemented vision-base autonomous humanoid robot meets the requirements of multiple function and high efficiency.