近幾年來，已開發出各式各樣的服務用機器人；由於社會年齡結構的改變，人們對於餵食用機器人這類型的服務用機器人的需求，已逐漸增加。本論文的目的為提出一種視覺導引之姿態控制策略，可讓餵食機器人能夠驅使機械手臂去做餵食的工作。所提出的控制策略為運用倒傳遞類神經網路，將目標物的影像特徵與機械手臂姿態間的對映關係建立起來，並利用結合雙軸攝影機的機械手臂來證實所提出方法之理論結果。在經過訓練之後，機械手臂能將其端接器做精確的定位。實驗結果顯示，所提出的方法不需事先知道餐盒與被餵食的人之位置資訊，機械手臂亦能從餐盒中抓取固態食物以及將食物餵給人食用。

　　In recent years, several service robots have been developed and employed in our daily life. Demand for service robots such as feeding robots, is increasing, due to changing age structures. The objective of this thesis is to propose a vision-guided pose control strategy for a feeding robot to drive its manipulator in the application of feeding tasks. The proposed control strategy is based on the backpropagation neural network, which is applied to achieve the mapping between image features of a target and the pose of the robot manipulator. A robot manipulator integrated with a pan-tilt camera is employed to verify the theoretical results of the proposed method. After the training stage, the robot manipulator is capable of positioning its end-effector accurately. The experimental results reveal that the proposed approach ensures that the robot manipulator can grasp solid foods in a meal tray and feed a person with the foods without beforehand information about the location of the meal tray and the fed person.

參考文獻
[1].G. Asuni, G. Teti, C. Laschi, E. Guglielmelli and P. Dario, “Extension to End-effector Position and Orientation Control of a Learning-based Neurocontroller for a Humanoid Arm,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4151-4156, Oct. 2006.

[2].C. Charalambous, “Conjugate Gradient Algorithm for Efficient Training of Artificial Neural Network,” Proceedings of the IEE International Conference on Circuits, Devices and Systems, Vol. 139, No. 3, pp. 301-310, June 1992.

[3].A. J. Colmenarez, B. Frey and T. S. Huang, “Detection and Tracking of Faces and Facial Features,” Proceedings of the International Conference on Image Processing, Vol. 1, pp. 657-661, Oct. 1999.

[4].G. Flandin, F. Chaumette and E. Marchand, “Eye-in-hand/Eye-to-hand Cooperation for Visual Servoing,” Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2741-2746, Apr. 2000.

[5].M. T. Hagan and M. B. Menhaj, “Training Feedforward Networks with the Marquardt Algorithm,” IEEE Transactions on Neural Networks, Vol. 5, Issue 6, pp. 989-993, Nov. 1994.

[6].R. L. Hsu, M. Abdel-Mottaleb and A. K. Jain, “Face Detection in Color Image,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 24, Issue 5, pp. 696-706, May 2002.

[7].J. L. Huang, Intelligent Pose Control of Robot Manipulators Using a Pan-Tilt Camera, M. S. Thesis, Department of Mechanical Engineering, National Cheng Kung University, R. O. C., 2007.

[8].S. Hutchinson, G. D. Hager and P. I. Corke, “A Tutorial on Visual Servo Control,” IEEE Transactions on Robotics and Automation, Vol. 12, Issue 5, pp. 651-670, Oct. 1996.

[9].S. Ishii, S. Tanaka, and F. Hiramatsu, “Meal Assistance Robot for Severely Handicapped People,” Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1308-1313, May 1995.

[10].S. H. Jeng, H. Y. M. Liao, C.C. Han, M. Y. Chern and Y.T. Liu, “Facial Feature Detection Using Geometrical Face Model: An Efficient Approach,” Pattern Recognition, Vol. 31, Issue 3, pp. 273-282, Mar. 1998.

[11].M. Kass, A. Witkin and D. Terzopoulos, “Snakes: Active Contour Models,” International Journal of Computer Vision, Vol. 1, No. 4, pp. 321-331, Jan. 1988.

[12].V. Lippiello, B. Siciliano and L. Villani, “Position-Based Visual Servoing in Industrial Multirobot Cells Using Hybrid Camera Configuration,” IEEE Transactions on Robotics, Vol. 23, Issue 1, pp. 73-86, Feb. 2007.

[13].X. G. Lu, J. Zhou and C. S. Zhang, “A Novel Algorithm for Rotated Human Face Detection,” Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Vol. 1, pp. 760-765, June 2000.

[14].Q. Meng and M. H. Lee, “Biologically Inspired Automatic Construction of Cross-Modal Mapping in Robotic Eye/Hand systems,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4742-4749, Oct. 2006.

[15].A. Muis and K. Ohnishi, “Eye-to-Hand Approach on Eye-in-Hand Configuration Within Real-Time Visual Servoing,” IEEE/ASME Transactions on Mechatronics, Vol. 10, Issue 4, pp. 404-410, Aug. 2005.

[16].H. Ritter, T. Martinetz and K. Schulten, Neural Computation and Self-Organizing Maps: an Introduction, Addison-Wesley, pp. 64-72, 127-130, 1992.

[17].H. A. Rowley, S. Baluja and T. Kanade, “Neural Network-Based Face Detection,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 20, Issue 1, pp. 23-38, Jan. 1998.

[18].A. C. Sanderson and L. E. Weiss, “Image-Based Visual Servo Control using Relational Graph Error Signals,” Proceedings of the IEEE International Conference on Cybernetics and Society, pp. 1074-1077, 1980.

[19].W. Sepp, S. Fuchs and G. Hirzinger, “Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4310-4315, Oct. 2006.

[20].F. Smeraldi, O. Carmona and J. Bign, “Saccadic Search with Gabor Feature Applied to Eye Detection and Real-Time Head Tracking,” Image and Vision Computing, Vol. 18, Issue 4, pp. 323-329, Mar. 2000.

[21].R. Soyama, S.Ishii and A. Fukase, “Selectable Operating Interfaces of the Meal-Assistance Device “My Spoon”,” Lecture Notes in Control and Information Sciences, Issue 306, pp. 155-163, 2004.

[22].J. Su, Y. Xi, U. D. Hanebeck and G. Schmidt, “Nonlinear Visual Mapping Model for 3-D Visual Tracking With Uncalibrated Eye-in-Hand Robotic System,” IEEE Transactions on Part B of System, Man, and Cybernetics, Vol. 34, Issue 1, pp. 652-659, Feb. 2004.

[23].I. H. Suh and T. W. Kim, “Fuzzy Membership Function Based Neural Networks with Applications to the Visual Servoing of robot Manipulators,” IEEE Transactions on Fuzzy Systems, Vol. 2, Issue 3, pp. 203-220, Aug. 1994.

[24].J. Terrillon, M. Sadek, H. Fukamachi and S.Akamatsu, “Invariant Face Detection with Support Vector Machines,” Proceedings of the 15th International Conference on Pattern Recognition, Vol. 4, pp. 210-217, Sep. 2000.

[25].M. Topping, “An Overview of the Development of Handy 1, a Rehabilitation Robot to Assist the Severely Disabled,” Journal of Intelligent and Robotic Systems, Vol. 34, No. 3, pp. 253-263, July 2002.

[26].T. P. Vogl, J. K. Mangis, A. K. Zigler, W. T. Zink and D. L.Alkon, “Accelerating the Convergence of the Backpropagation Method,” Biological Cybernetics, Vol. 59, No. 4-5, pp. 256-264, Sep. 1998.

[27].J. A. Walter and K. J. Schulten, “Implementation of Self-Organizing Neural Networks for Visuo-Motor Control of an Industrial Robot,” IEEE Transactions on Neural Networks, Vol. 4, Issue 1, pp. 86-96, Jan. 1993.

[28].G. Wei and I. K. Sethi, “Face Detection for Image Annotation,” Pattern Recognition Letters, Vol. 20, pp. 1313-1321, Nov. 1999.