教師資料查詢 | 類別: 會議論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:Vision-Based Humanoid Soccer Robot Design for Marathon
學年97
學期1
發表日期2008/11/21
作品名稱Vision-Based Humanoid Soccer Robot Design for Marathon
作品名稱(其他語言)
著者Wong, Ching-Chang; Huang, Kai-Hsiang; Yang, Yu-Ting; Chan, Hsiang-Min; Hu, Yue-Yang; Chen, Hao-Che; Hung, Chih-Hui; Lo, Yu-Wei
作品所屬單位淡江大學電機工程學系
出版者
會議名稱2008 CACS International Automatic Control Conference
會議地點臺南, 臺灣
摘要A vision-based humanoid soccer robot is designed and implemented for the marathon competition. The marathon is one of competitions in HuroSot League of FIRA RoboWorld Cup 2008. The humanoid soccer robot with 26 DOF (degrees of freedom) is design to accomplish the human-like walking motion. The system of humanoid soccer robot contains two processors: .mu.'nsp and NIOS. .mu.'nsp is a 16-bit DSP processor which is used to process image information and decide strategy. NIOS is a 32-bit embedded soft-core processor which is used to control the motion of actuators and receive the data of the other sensors such as electronic compass, force sensor, and accelerometer. A CMOS image sensor installed on the humanoid soccer robot is used to recognize the direction of the line on the ground. Based on the obtained line information, a strategy is proposed to let the humanoid soccer robot can walk following the line. From the practical test results, we can see that the implemented humanoid soccer robot can accomplish the competition of marathon.
關鍵字Humanoid soccer robot;Autonomous mobile robot;Soccer robot;Robot soccer game
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20081121~20081123
通訊作者
國別中華民國
公開徵稿Y
出版型式紙本
出處Proceedings of the 2008 CACS International Automatic Control Conference5頁
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