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研究生： 楊子緯
Yang, Tzu-Wei
論文名稱： 通用人形機器人動作編輯及介面開發之研究
A Research on the Motion Editing System for General Humanoid Robots
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： 2011
畢業學年度： 99
語文別： 英文
論文頁數： 111
中文關鍵詞： 人形機器人 、動作編輯 、動作濾除 、動作產生 、動作擬合 、動作編碼 、動作解碼 、逆向運動學 、使用介面 、開發工具
外文關鍵詞： Humanoid Robot, Motion Editing, Motion Filtering, Motion Creation, Motion Interpolation, Motion Encoding, Motion Decoding, Inverse Kinematics, Man-machine Interface, Developing tool
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    • 本論文主要係探討人形機器人的動作編輯及動作的產生。人形機器人的研究在國外已行之有年。與一般工業用機器人的動作不一樣的地方是在人體的動作經常包含的加速度的變化或使勁狀態的不同。為了探討重新產生這方面動作特性並套用至人形機器人身上。首先，本論文發表了一組人形機器人設計和製造，及其電路控制。此機器人共計有31個主動式關節自由度，51公分高，2公斤重。本論文也展示了一套通用的開發介面可適用於任何的多軸機器人做動作產生之研究。在動作編輯方面，藉由順、逆向運動學及動作編碼的協助，我們得以對動作進行分析，插入及編輯。提供了人形機器人開發人員除了一步步教導機器人外的另一種可行且高效率的動作產生方式。此外，本論文也提到針對擷取到的人體動作進行修整的方法。由於人體動作擷取常受限於標誌點遮蔽而遺失其動作資訊，我們提出一整套的方法，藉由分析擷取的動作資訊，濾除異常的動作資訊，並重新產生平滑的動作。

    The development of humanoid robot’s motion pattern has started for several years. Unlike commercial conventional robotic motions, human motions usually perform with changed acceleration or sudden deceleration. This thesis mainly explores the motion pattern generating of humanoid robots. First, the hardware design of a 31 degrees of freedoms humanoid robot is described. The robot is built in smaller scale, which is 51 centimeter tall and 2 kg weight. The developing tool for general humanoid robots has been presented in this thesis. The interface is mainly design for motion pattern researching. Then, the motion editing functions, such as, motion teaching, motion interpolating, and motion code editing, is proposed. Through the kinematic model and motion code, the motions can be analyzed, interpolated, and edited. Besides, the method for modifying captured human motion is described in this thesis, which contains filtering abnormal postures and regenerating smooth motions.

    簽名頁 I 摘要 II Abstract III 誌謝 IV Acknowledgements V Content VI List of Figures IX List of Tables XIII Nomenclature XIV Chapter 1 Introduction 1 1.1 Motivation and Purpose 1 1.2 Literature review 2 1.3 Outline 4 Chapter 2 The Hardware Design of Humanoid Robot 6 2.1 Introduction 6 2.2 The Degree of Freedom Analysis of Humanoid Robot 6 2.3 Planning the Components of Humanoid Robot 8 2.4 Building up the Humanoid Robot 12 2.5 The Controlling Components of Humanoid Robot 16 Chapter 3 The Controlling Software and Interface 21 3.1 Introduction 21 3.2 The parametric files setting 21 3.2.1 The Configuration and Motion Type of Each Links (*.stc) 22 3.2.2 The Geometric of 3D Model (*.stl) 24 3.2.3 The Placement of Parts in 3D Space (*.tra) 24 3.2.4 The Joint Moving Limitation File (*.jmr) 25 3.3 The User Interface 26 3.3.1 3D Model Replication window 29 3.3.2 Motion Control window 29 3.3.3 Motion Code Recording and Editing window 31 3.4 The procedure of Interface 33 3.4.1 Loading the Parametric Files of Model 33 3.4.2 Teaching the Joint Angle of Model 34 3.4.3 Storing and Editing the Motion Code 36 3.4.4 Modifying missing frames of captured human motion 40 3.4.5 Motion code editing 42 Chapter 4 Kinematics of Humanoid Robot 45 4.1 Introduction 45 4.2 Coordination Systems 45 4.3 Forward Kinematics 48 4.4 Inverse Kinematics 51 4.4.1 Inverse Position Problem 53 4.4.2 Inverse Orientation Problem 58 4.4.3 Each Case for Different Numbers of Solutions 60 Chapter 5 Motion Filtering and Smoothing 66 5.1 Introduction 66 5.2 Motion Capturing 66 5.3 Filtering Abnormal Frames 70 5.4 Regenerating Smooth Motions 76 Chapter 6 Motion Teaching, Editing, and Replicating 83 6.1 Introduction 83 6.2 Teaching Humanoid Motion 83 6.3 Interpolating Motion Code 84 6.3.1 Linear Interpolation 85 6.3.2 Cubic Spline Interpolation 86 6.3.3 Sport Motion Interpolation 88 6.3.4 Impact Motion Interpolation 90 6.4 Editing Motion Code 92 6.5 Replicating Motions 94 Chapter 7 Conclusions and Future Studies 97 7.1 Discussions and conclusions 97 7.2 Limitations and future studies 98 7.2.1 Tool coordinate teaching 99 Reference 105 自述 110 Vita 111

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