單板電腦自主式四足機器人非連續路徑的規劃與控制

Abstract

本研究著重於建立一套具有影像式地形辨識與基本步態規劃功能的自主式跨越河石地形能力的四足機器人軟硬體整合系統。所建造的四足機器人將結合嵌入式單板電腦與伺服機控制板，其中以單板電腦為核心控制器。經由系統整合與程式設計，完成可用Windows Embedded嵌入式系統的單板電腦控制架構與伺服馬達為機器人致動器的自主式四足機器人實作平台。 新型四足機器人NC-F4-2010實作平台是以本實驗室所開發具有十二個伺服馬達的高自由度四足機器人NC-F4-09為原型，改以嵌入式單板電腦DM&P RoBoard RB-100為主控電腦，取代機器人原型所採用的個人電腦或Basic Atom微晶片處理器。單板電腦主要負責處理複雜的高階運算，並可使用USB介面來連接各式的裝置，如無線網路卡或是其他感測器；而伺服機控制板SSC-32仍可經由RS232介面與單板電腦系統連接，控制伺服馬達之動作。 目前，本實驗已完成新型自主式四足機器人軟硬體系統NC-F4-2010，此系統結合機器人視覺模組的影像式地形辨識功能，配合本實驗室所發展之路徑規畫動作產生程式理論與技術，並整合伺服機控制而達成具有智能型行動步態規劃技術功能的可跨越河石地形的自主式四足機器人系統。具體為使用影像擷取裝置觀測地面地形，將地面之隨機地形影像資料經影像辨識處理後取得行走的河石踏點，並再轉換為具體實用之伺服機運動控制路徑規劃，成為機器人之連續行走動作，使機器人能達成跨越河石地形的自主式行走之目標。

This study focused on developing a quadruped robot system NC-F4-2010 which could autonomous across discontinuous terrain. The quadruped robot contains an embedded single board computer (DM&P RoBoard RB-100) and a servo controller. We have successfully installed the Windows Embedded System on the single board computer to control the autonomous quadruped robot. The new developed quadruped robot uses the single board computer as the main local controller, instead of a desktop PC, and uses servo motors as actuators to drive the four legs to move. The experimental platform also integrates several softwares for implementing motion control, image processing etc. The new quadruped robot NC-F4-2010 is a new prototype, according to the design of the robot NC-F4-09. The NC-F4-09, designed by our laboratory, has 12 servo motors mounted on the four legs. In this study, the new robot's main controller is replaced by DM&P RoBoard RB-100 single board computer, instead of the original Basic Atom single chip. The single board computer can communicate with various types of device such as wireless network card through USB interface. The servo Controller SSC-32 with implements the command from the single board computer to control the servo motor’s action via the interface of RS232. In the study, the new robot system NC-F4-2010 has successfully demonstrated autonomous motion ability crossing a so called River-stone discontinuous terrain. The terrain pattern identified module of the robot-system provides the function of image capture and terrain recognition. The system can execute the developed path generating MATLAB program to calculate the gait processes of the quadruped robot through the terrain. The path generating program designed by our laboratory has integrated with motion control module. The servo controllers perform the action of gait processes and drive the robot cross the discontinuous terrain. The results of these tests have proved the robot current developed theory and quadruped robot system can successfully perform an autonomous robot motion across a River-stone discontinuous terrain.