The Design and Implementation of Biped Robot Based on Machine Vision for Imitating the Motions of Human Lower Limbs
碩士 === 遠東科技大學 === 機電光系統研究所 === 99 === The goal of this study is to design a biped robot with visual function whose structure is made up by 10 AI-servo motors and with some self-designed aluminum board connections. This robot has a basic ability for imitating the motions of human low-half body. Under...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2011
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| Online Access: | http://ndltd.ncl.edu.tw/handle/nerqtb |
| Summary: | 碩士 === 遠東科技大學 === 機電光系統研究所 === 99 === The goal of this study is to design a biped robot with visual function whose structure is made up by 10 AI-servo motors and with some self-designed aluminum board connections. This robot has a basic ability for imitating the motions of human low-half body. Under any complex background, the web camera can recognize the color marks that are pasted on the human body. According to the relative positions of those marks, the robot can recognize the motion of human and imitate this motion in time. The imitated human motions include the low-half body motions of “standing up” and “opening and closing with single foot”. The actuators of the robot adopts the AX-12 and RX-28 motors which are manufactured by ROBOTIS. The rotation degree of each motor is controlled by RS-232 and RS-485 protocols, and also collocates with the joint connecting mechanism to enhance the stability of the robot body. The main difficulties are maintaining the stability and balance of the robot when the biped robot is in action. A time-delay method is used in the robot motor controls for improving the balance of the robot so that the robot moves more smoothly and completely.
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