Development and Implementation of Visual and Control Systems for Humanoid Robot

• Main Authors: Yu-Te Su, 蘇育德
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/86682157872665702732

碩士 === 國立成功大學 === 電機工程學系碩博士班 === 94 === This thesis is mainly to develop a robot soccer system to conform Humanoid Robot World Cup Soccer Tournament (HuroSot) of FIRA. The humanoid robot soccer system, which can be considered as a visual feedback system, includes the design and implementation of the hardware architecture, visual servo system, control strategy system, and the motion patterns. The image of the field is captured via the camera mounted above the robot. The information of image data are transmitted to the image processing center and then analyzed to obtain the dynamic environmental information of the field. The control strategy system will choose the specific control strategy and behavior according to the information encoded by the visual system. Accordingly, the robot will execute the movement with the choice of the motion patterns database. This thesis starts with addressing the structure of the humanoid robot soccer system and then details the flow of the image processing system. Furthermore, we propose control strategies to assign the behavior decision of the soccer robot. Finally, the experiments of a humanoid soccer robot are performed to verify the benefit and the feasibility of the developed schemes.