Basketball Training Platform for Small-Sized Humanoid Robots

• Main Authors: Yi-Fan Chung, 鍾奕帆
• Other Authors: 鄭吉泰
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/48tmxe

碩士 === 淡江大學 === 電機工程學系碩士班 === 102 === A basketball training platform for the shooting ability of small-sized humanoid robots is presented in the thesis. The basketball scene is based on FIRA HuroCup competition. A vision-based autonomous robot needs to throw a ball into a 30cm high basket. A table tennis ball is substituted for the basketball. In order to setup the platform, A 120cm x 120cm x 160cm platform is built up by aluminum. Two cameras are mounted on the top and side of the platform respectively. These two cameras locate the ball position based on curve fitting. A one input and one output Fuzzy system for determining the strength of the throwing is presented in this thesis. In order to find out the best parameter sets of the proposed Fuzzy system, DNA algorithm is applied in this thesis. DNA is an optimization algorithm including, reproduce, crossover, mutation and enzyme and virus. The proposed system is able to monitor the throwing performance when the small-sized humanoid robot is throwing the ball. According to the real experiment data, the robot is able to adjust the parameter sets of the proposed Fuzzy system. The simulation results and experimental data show the efficiency of the proposed method.