| 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 | en |
| 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 | TWN |
| 公開徵稿 | Y |
| 出版型式 | 紙本 |
| 出處 | Proceedings of the 2008 CACS International Automatic Control Conference，5頁 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/95939 ) |
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