除了在傳統產業的應用外，機器人也擴充到我們的生活上，如醫療保健、娛樂、安全和家庭生活領域。在本研究中，採用過去實驗室所建造的人形機器人作為餵食工作的平台。機器人配有一個全方向輪的移動式基底平台，一個固定式的身軀固定在平台上，兩隻各具有七自由度之機械手臂，兩個機械手掌，另在頭部裝置有一台全景式攝影機和一台雙軸相機。在餵食的任務中，機器人分成兩個階段來動作。機器人首先從餐盤裡抓取固態食物，再移動到被餵食者的位置進行餵食。而本研究的重點著重於餵食任務的第二階段。本論文的目的為提出一種視覺導引之姿態控制策略，利用全景式攝影機與雙軸相機賦予機器人的機械手臂進行餵食任務的能力。實現此任務需要的技術包括人臉偵測、人臉姿態估測、全景式攝影機與雙軸相機的內外部參數校正。最後，我們透過一組實驗執行來驗證機器人以視覺導引進行餵食任務的效益，實驗結果顯示機器人沒有事先得知被餵食者的位置就可以進行餵食任務。

In addition to traditional applications in industry, robots now support our lives in such areas as medical care, entertainment, security and home life. In this study, a humanoid robot that was constructed in our laboratory is employed as a research platform for feeding tasks. The robot comprises mainly an omni-directional wheeled base, a fixed torso mounted on the mobile base, two seven-degrees-of-freedom arms, two robot hands and a head equipped with a panoramic camera and a pan-tilt camera. In the task of feeding, the robot moves in two stages. The arm of the robot is first controlled to grasp solid foods in the meal tray, and is then driven to feed the person with foods. This study focuses on the second stage of movement in feeding tasks. The objective of this thesis is to propose a vision-guided control strategy to equip the robot with the capability of feeding the person with foods by the robot arm using a pan-tilt camera and a panoramic camera. Numerous techniques are required for implementing such a capability, including face detection, face pose estimation, pan-tilt camera calibration, and panoramic camera calibration. Finally, a set of experiments are conducted to verify the effectiveness of vision-guided feeding task by a humanoid robot. Experimental results reveal that the proposed approach ensures that the robot can feed a person with the foods without beforehand information about the location of the fed person.

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