搭載於二輪式自動平衡移動平台之布袋戲偶機器人系統

Abstract

布袋戲是台灣傳統藝術文化之一，厲害的操偶師傅可憑著靈巧手掌運用技巧讓戲偶動的栩栩如生彷彿有了生命一般。而本論文研發一隻仿布袋戲偶機器人，取名為『X-Puppet』，它可以用一只數位手套來操控使其行動有如真的布袋戲偶般。而這數位手套包括了五片壓電材料、一個傾斜儀、陀螺儀、以及一塊微控制器板，它可以藉由數學模型分析出來的手部運動與機器人之間關係的動作函數，即時計算出手部姿態並控制機器人。除此之外，本作品將此機器人裝置在一具二輪式自動平衡移動平台之上，它提供了機器人靈活移動和轉身的能力，但礙於此一平台本身為不穩定系統，所以必須實現一自動平衡演算法去計算底座以及上半身機器人動作行為的轉動力矩，利用計算轉矩法以及陀螺儀、傾斜儀和加速規去即時更新系統參數，讓整個系統可以即時地保持平衡，並且利用設計角度值的概念讓整個系統移動。為了讓整個系統做到最小化以及最低成本，本作品致力於簡化模型計算量，將整個系統實現在一8位元的單晶片微控制器上。

The glove puppet is the traditional culture in Taiwan. The master puppeteer manipulates the glove puppets and brings each animated puppet character to life. We make a glove puppet robot called “X-Puppet” which can be manipulated by a data glove like a real glove puppet. The data glove has five Piezoelectric Film sensors, one gyro ,one tilt, and one microcontroller. It measures the gesture data, translates it into the motion of the robot and controls the robot immediately. And we mount this 9-DOF mechanism, which mimicking a glove puppet manipulation, on a two-wheel mobile platform. The platform provides agile movements of the robot but itself is an unstable system. Hence, a self-balancing controller is implemented by considering the motion as well as configuration variation of the upper body (the 9-DOF mechanism). The control law utilizes the principle of computed torque method with online identification of related parameters using various sensors including an accelerometer. The incline angle is obtained by fusing a gyroscope and a tilt sensor. Under the balancing control, the forward motion of the robot is achieved by giving a desired tilt angle profile. To minimize the footprint of electronics, the controller is implemented using an 8-bit single-chip microcontroller.