| Summary: | 碩士 === 國立臺灣海洋大學 === 電機工程學系 === 100 === The main objective of this thesis is to design and construct an interactive robot system especially equipped with Kinect. The robot can detect the user and track the ball in user’s hand. The way for the user-robot interaction is that the robot can catch the ball which was thrown from the user at anytime within reasonable range. In addition, the most important thing is that the robot can predict the ball trajectory which is obtained by applying the least-square method, and calculate the relative direction and distance between position of the ball and itself.
The robot’s moving platform consists of omni-directional wheels and driving motors, which was designed for fast response and high mobile ability. The controller on robot is AT89S51 and, in order to keep high mobility, the data calculated by computer is transmitted via Zigbee wireless interface.
We access data from the Kinect using OpenNI processing library and process images using OpenCV on the personal computer, which was developed in Visual Studio 2008 environment.
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