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研究生： 巴布
Baboo, Dhanabalan
論文名稱： 模擬人類運動之人型機器之設計與發展
Design and Development of Humanoid Robot for Human motion Retargeting
指導教授： 蔡明俊
Tsai, Ming-June
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2016
畢業學年度： 104
語文別： 英文
論文頁數： 96
中文關鍵詞： 人形機器人 、運動捕捉 、運動重定向
外文關鍵詞： Humanoid robot, Motion Capture, Motion Retargeting
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    • 機器複製人體運動的概念，近年來在機器人學領域中蓬勃發展。一般而言，工業用途的機器在市場上發展速度較為穩定，因此機器的設計與維修較為容易；然而，人形機器的發展是不受限制的。人形機器人的運動產生方法有許多種，其中一種方式為運動複製，將人類的運動模式捕捉與分析以複寫於人形機器中。此方法，能使機器人執行特定的行為，特別是能幫助人類在醫療或危險工作方面的協助。因此，此研究主要設計用以分析捕捉人類運動行為的軟體，且設計具有25個自由度的硬體設備。此人形機器長為430毫米，重1800公克，發展使用者介面用軟體以操縱該人型機器。而本研究將發展動態運動虛擬模型，以3D以圖形方式呈現的分析整合軟體，模擬人類的運動行為。並討論如何將人體運動重定向於人型機器人所面臨的問題與解決方法。

    The idea of Human motion replication to robots is a booming research field in robotics. In general, the moments of commercial Industrial robots in the market are limited with a constant acceleration so they are easy to program and maintained but when it comes to the humanoid robot it is completely a different level where the moments of the robot are not limited and the acceleration is not constant. For humanoid robots, there are different methods to actuate them, one of the method is replicate the human motion captured this process is known as motion retargeting. Motion replication has mostly helped the robot to perform a particular task where more touch of a human is required for example in medical fields. This thesis is mainly focused on designing a humanoid robot for retargeting human motions using the motion-capturing software. The hardware of the humanoid robot is design with 25 degrees of freedom. For the purpose of simplicity the robot built in smaller scale. The height of the robot is 430 millimeters tall and weight 1800 grams. A user interface can retarget human motion and control the robot used as controlling software. The dynamic and kinematic virtual model is created and used for simulation in a graphical User interface of a motion retargeting software. The methods to control the robot after motion retargeting and the problem faced on motion retargeting also discussed.

    Abstract I 摘要 III Acknowledgements IV Content V Nomenclature XI Chapter 1 Introduction 1 1.1 Motivation and Purpose 1 1.2 Literature review 2 1.3 Outline 5 Chapter 2 The Design of Humanoid Robot 7 2.1 Introduction 7 2.2 The Degree of Freedom Analysis of Humanoid Robot 8 2.3 Arrangements of Actuators 10 2.4 Virtual Design of the Humanoid Robot 11 2.5 File Output 14 Chapter 3 Hardware Specifications and Development of Humanoid Robot 16 3.1 Introduction 16 3.2 Actuators 17 3.2.1 Overview 17 3.2.2 Torque requirements for the Robot 18 3.2.3 Motor Specification 21 3.2.4 Servo Microcontroller 24 3.2.5 Servo connection 25 3.2.6 Servo calibration 26 3.2.7 Connecting brackets 28 3.3 Control Board & Power Supply 30 3.3.1 DRC Register 32 3.3.2 DRC Interface 33 3.4 Gyro Sensor 34 3.4.1 Overview 34 3.4.2 Calibration of Gyro Sensor 37 3.5 Additional Sensor 41 3.5.1 Internal Sensor 41 3.5.2 PSD Sensor (Position Sensitive Detector) 42 3.5.3 Assembling of the robot 44 3.5.4 Self-Balancing 47 Chapter 4 Introduction to Body Motion Retargeting system 50 4.1 Introduction 50 4.2 Parametric File Setting 53 4.2.1 Terrasoft SAS data File (*.stc) 53 4.2.2 3D CAD Model (*.stl) File 55 4.2.3 The human dynamic parameter file (.hdp) 57 4.3 MoCap Retargeting Process 59 4.3.1 Overview 59 4.3.2 Motion capture method 59 4.3.3 Coordinate System 62 4.3.4 Forward Kinematics 65 4.3.5 Inverse Kinematics 66 Chapter 5 Control and Teaching Methods 69 5.1 Overview 69 5.2 User Interface 69 5.2.1 Intelligent Body Motion Processing System (IBMPS) 69 5.2.2 Other Motion Creating Tool 71 5.3 Motion Teaching 72 5.3.1 Overview 72 5.3.2 Ibmps Teaching 73 5.3.3 DR-SIM Teaching 75 5.3.4 Motor Feedback Teaching 77 5.3.5 Motion File 78 Chapter 6 Simulation and results 85 6.1 Overview 85 6.2 DR-SIM Teaching 85 6.3 Teaching from Motor feedback 87 6.4 IBmps Teaching 88 Chapter 7 Conclusions and Future Studies 91 7.1 Conclusions 91 7.2 Future studies 92 Reference 93

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