教師資料查詢 | 類別: 會議論文 | 教師: 黃志良CHIH-LYANG HUANG (瀏覽個人網頁)

標題:Penalty Kick of a Humanoid Robot by a Neural-Network-Based Active Embedded Vision System
學年99
學期1
發表日期2010/08/01
作品名稱Penalty Kick of a Humanoid Robot by a Neural-Network-Based Active Embedded Vision System
作品名稱(其他語言)
著者Hwang, Chih-Lyang; Lu, Nien-Wen; Hsu, T.-C.; Huang, Chun-Hao
作品所屬單位淡江大學電機工程學系
出版者N.Y.: IEEE (Institute of Electrical and Electronic Engineers)
會議名稱SICE Annual Conference 2010, Proceedings of
會議地點Taipei, Taiwan
摘要This paper realizes the humanoid robotic system to execute the penalty kick (PK) of the soccer game. The proposed system includes the following three subsystems: a humanoid robot (HR) with 22 degree-of-freedom, a soccer with different colors, and a soccer gate. In the beginning, the HR scans the soccer field to find the gate and the soccer, which are randomly distributed in a specific region in the front of the gate. If a command for the PK of the soccer with specific color is assigned, the HR will be navigated by an active embedded vision system (AEVS). After the HR reaches a planned position and posture, the PK of the HR will be executed. Two key important techniques are developed and integrated into the corresponding task. One is the modeling using multilayer neural network (MNN) for different view angles, the other is the visual navigation strategy for the PK of the HR. In addition, the error sensitivities in the pan and tilt directions of these four visible regions are analyzed and compared. The proposed strategy of the visual navigation includes the following two parts: (i) the switched visible regions are designed to navigate the HR to the planned position, and (ii) the posture revision of the HR in the neighborhood of the soccer in order to execute the PK. Finally, a sequence of experiments for the PK of the HR confirm the effectiveness and efficiency of the propose methodology.
關鍵字
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
通訊作者
國別中華民國
公開徵稿
出版型式
出處SICE Annual Conference 2010, Proceedings of, pp.2291-2299
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