Design and Implementation of An Intelligent Biped Robot with Motion Imitation Ability

• Main Authors: Li-Po Chou, 周立柏
• Other Authors: 王文俊
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/97253649764268608823

碩士 === 國立中央大學 === 電機工程研究所 === 95 === The goal of this study is to design an intelligent humanoid robot which not only can walk forward, backward, turn left, turn right, walk sideward, squat down, stand up and bow smoothly, but also can imitate some human motions. The robot’s structure is made up by 17 AI motors with some self- design acrylic board connection. It is like a human with two hands, two feet, and a head. The head is a web camera to serve as an eye of the robot. The eye can recognize the color marks pasted on the human body under any complex background. According to the relative positions of those marks, the robot can recognize the human motion and imitate his motion in time. The imitated human motions include the various motions of hand and the lower body motions like “Stand up”, “Squat down”, “Stand by one foot” etc. Furthermore, the robot also can imitate the forward, backward and side walking of the human. When the robot is moving, the marks pasted on human could be out of the robot’s vision. Therefore, its eye can also automatically search the marks. AI-1001 motors are also as the actuators of the robot. The rotation degree of each motor is controlled by RS-232 protocol. The control strategies include torque control, linear interpolation, trajectory generation, finite state mechanism and center of gravity compensation etc. It should be emphasized that maintaining the stability and balance of the robot, when the robot walks, moves and imitates motions, is the main achievement of this work. Moreover, using color marks to guide the robot to imitate human’s motions (including two or three-dimension motions) is the greatest originality of our work. This thesis is a good demonstration for the study on interaction between human and robot.