在現今的領域中，機器人的應用極為廣泛，隨著科技的發展，機器人已逐漸取代人類從事一些重複性、危險性及粗重的工作，如拆除爆裂物或海底探勘等等。此類工作若由機器人來代替，可減少或避免造成一些不必要的傷亡，因此本論文主要目的是透過簡易的人機互動，來達到機器人控制，以利於完成指定的動作，協助進行困難度或危險性相對較高之工作問題解決。而在現今經濟蕭條的情況下，許多產業也都希望在成本部分能夠盡量減少，因此本論文也期望能夠以盡量低廉的成本，實現能夠達成模仿效果的系統架構。而因微軟公司推出的Xbox360遊戲機體感周邊Kinect感測器，其成本低廉且具有強大的影像識別函式庫，大幅降低影像識別應用成本，因此本論文選用Kinect感測器搭配16軸人形機器人RoboBuilder，建構一套價格較為低廉的互動式模仿系統。
本論文內容主要分成Kinect感測器、軟體介面與運動學演算法計算關節角度三大部分，在軟體介面部分使用Microsoft Visual Studio 2012平台的開發介面C sharp(C#)，搭配Kinect官方所提供的軟體開發套件Kinect for Windows SDK來進行開發。而在演算法的部分，則是使用反向運動學中的幾何解法來進行計算，以降低其運算時間，達到即時動作模仿的效果。本研究使用Kinect感測器擷取人體骨架資訊，經過演算法計算出各個關節的轉換角度，傳送給機器人的伺服馬達，使其做出對應之動作。由實驗結果顯示，本研究建構之系統，可達到視覺上即時模仿動作的效果。

In the field these days, the robot application is extremely broad. With the development of science and technology, the robot has gradually replaced humans in repetitive, dangerous and heavy work, such as demolition explosives or seabed mining, and so on. If this kind of the works is replaced by a robot, you can reduce or avoid unnecessary casualties. Therefore, the main purpose of this thesis is through simple human-machine interaction to achieve the robot control, in order to facilitate the completion of the specified action to assist in the degree of difficulty or the relatively high risk of problem-solving work. In the case of the current recession, many industries also want to minimize the cost component, so this thesis is also desirable to be able to maximize low costs to reach the system structure of imitation. However, Microsoft launched Xbox360 somatosensory peripheral Kinect sensor, its low cost and a powerful image recognition library dramatically reduce the cost of image recognition applications. This thesis will select Kinect sensor with 16 degree of freedom (DOF) humanoid robot RoboBuilder to construct a less expensive system of the imitation.
The content of the thesis is consisted of three parts including the Kinect sensor, the software interface, and calculating the joint angle by kinematics algorithms. As for the software interface, we use the C# of Microsoft Visual Studio 2012 with an official Kinect Software Development Kit (Kinect for Windows SDK) to develop the software interface. In the part of algorithms, inverse geometric kinematics is utilized to reduce the computational time to achieve the immediate imitation. In this study, we apply with Kinect sensor to capture human skeleton information, through the proposed algorithm to calculate the angle of each joint and then the corresponding control signal to the robot servo motor to make the corresponding operation. From the experimental results, it shows that the proposed system can immediately achieve the visual effect of imitation.

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