本論文主要發展以FIRA規則為標準之人形機器人足球競賽系統，其中包括人形機器人的硬體架構設計、視覺伺服系統與控制策略系統的研發、及人形機器人運動模式的設計與實現。整個人形機器人系統為一視覺回授控制系統，其中裝置於機器人頭部的視覺系統擷取場地上的畫面，並將影像資訊傳送至影像處理中心，再經由影像分析辨識來獲得場上環境的動態資訊。而此影像資訊再經由特定編碼後，隨即傳入控制策略中心以判斷場上機器人與球的相對狀況。最後，再依此狀況來決定機器人的策略控制與行為模式，並將控制策略判斷的結果傳送至動作模式資料庫以達成機器人之運動控制。本論文首先提出所設計之人形機器人足球競賽系統，並介紹其硬體架構，其次我們將詳述影像處理之流程。接著，我們提出控制策略來賦予人形機器人所需產生的行為模式與動作。最後以實驗來展現所設計之人形機器人足球系統的效益與適用性。

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.

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