智慧型拟人行动机器人设计.pdf

绗 鍗佷笁灞嗛洟宄惰硣瑷婃妧琛撹垏鎳夌敤鐮旇◣鏈冭珫鏂 闆 鏅烘収鍨嬫摤 浜鸿鍕曟鍣ㄤ汉瑷▓ 姹熷彅鐩 鏋楀瘜鍋 閵樺偝澶у 閵樺偝澶у 闆昏叇鑸囬€氳▕宸ョ▼瀛哥郴 闆昏叇鑸囬€氳▕宸ョ▼瀛哥郴 sychiang@.tw linzhiwei222@ 鎽樿 鐢辨柤寰粺鎵€瑷▓鐨 Xbox鍚湁楂旀劅瑁濈疆 Kinect 锛 閫忛亷 Kinect 鎰熸噳鍣ㄥ彲浠ュ揩閫熸摲鍙栦汉楂斿Э鍕㈢殑鐩搁棞 鏈爺绌 灏囬嚌灏嶄汉鍨嬫鍣ㄤ汉濡備綍閬旀垚鎿汉涔嬭鍕曢€ 璩囪▕锛屾笡灏戜互鏀濆奖姗熸摲鍙栦汉鐨勫奖鍍忥紝鍐嶉€茶鍒嗘瀽鎵€ 琛屾帰瑷 锛屽皣閫忛亷浜洪珨濮挎厠璁婂寲锛屾湡鐩间汉鍨嬫鍣ㄤ汉浜 鑰楄不涔嬫檪闁擄紝鍥烘湰鐮旂┒灏囦娇鐢―ARwIn-OP浣滅偤瀵 鑳介仈鎴愮浉鍚屽嫊浣滐紝鐢氳嚦鏂间互浜洪珨鐨勫Э鎱嬩締 鎺у埗姗熷櫒 椹楃敤姗熷櫒浜猴紝鎼厤 Kinect 锛岄€忛亷绯荤当鏁村悎锛屽皣Kinect 浜猴紝澧炲姞浜烘浜掑嫊涔嬫鏈冿紝閬旀垚鎺у埗姗熷櫒浜轰箣鐩銆 鎹曟崏鍒扮殑浜洪珨楠ㄦ灦闂滅瘈鍧愭浣嶇疆锛岃綁鎻涚偤 纭珨涓 浣跨敤 Kinect 鎿峰彇浜洪珨濮垮嫝鐨勮畩鍖栵紝 DARwIn-OP鍙娇鐢ㄧ殑棣仈瑙掑害鍚戦噺锛庡湪閫忛亷缍茶矾 DARwIn-OP 鐐烘摤浜轰箣姗熷櫒浜猴紝閫忛亷绯荤当鏁村悎锛屽皣 鍌宠几锛岄€茶€屾帶鍒 DARwIn-OP 銆傜爺绌朵腑[5] 锛屼篃鎻愬嚭 Kinect 鎹曟崏鍒扮殑浜洪珨楠ㄦ灦 20鍊嬮棞绡€鍧愭浣嶇疆锛岃綁 鍚屾ǎ鐨勬蹇碉紝鍒╃敤 Kinect 鎿峰彇浜洪珨褰卞儚杞夎€屾帶鍒 鎻涙垚DARwIn-OP鐩稿皪涔嬮Μ閬旇搴﹀悜閲忋€傞€忛亷缍茶矾 DARwIn-OP 姗熷櫒浜猴紝鍏舵垚鏋滃儏闄愭柤鎵嬮儴濮垮嫝鑸囪叧 閫氳▕鍌宠几锛岄€茶€屾帶鍒 DARwIn-OP 涔嬪Э鎱嬶紝閬旀垚鏅 姝ラ噸蹇冪Щ鍕曞钩琛＄殑鍒濇绲愭灉銆傛垜鍊戝皣寤朵几 鎱у瀷鎿 浜烘鍣ㄤ汉瑷▓涔嬬洰妯 銆 DARwIn-OP鐨勮瑕虹郴绲憋紝璁撴鍣ㄤ汉妯℃摤浜哄嫊浣滄檪锛 闂滈嵉瑭烇細 DARwIn-OP 銆並inect 銆侀棞绡€銆佹摤浜鸿鍕曘€ 鍙互閫忛亷姗熷櫒浜虹殑瑕栬绯荤当锛屽姞浠ヨ鏁村垽鍒ワ紝涓︿笖 鐧煎睍鎴愮偤涓€濂楀嵆鏅傜郴绲憋紝浣滅偤姗熷櫒浜虹爺绌堕枊鐧间娇 Abstract 鐢ㄣ€ In this paper, we designed a system to accomplish the tasks of imitation of human motion of humanoid 2. DARwIn-OP 姗熷櫒浜 robot. The system not only can be used to immitate 鍦ㄨ繎骞惧勾渚嗭紝浜哄瀷姗熷櫒浜鸿澶ч噺鐨勬