智能机器人英文文档

OBSTACLEAVOIDANCEDESIGNFORHUMANOIDROBOTBASEDONFOURINFRAREDSENSORSCHINGCHANGWONG1,CHITAICHENG1,KAIHSIANGHUANG1,YUTINGYANG1,HSIANGMINCHAN1ANDCHIISHENGYIN21DEPARTMENTOFELECTRICALENGINEERING,TAMKANGUNIVERSITY,TAMSUI,TAIWAN251,ROC2METALINDUSTRIESRESEARCHDEVELOPMENTCENTRE,KAOHSIUNG,TAIWAN811,ROCABSTRACTABEHAVIORSTRATEGYOFHUMANOIDROBOTFOROBSTACLEAVOIDANCEBASEDONFOURINFRAREDSENSORSISPROPOSEDANDIMPLEMENTEDONANAUTONOMOUSHUMANOIDROBOTAMECHANICALSTRUCTUREWITH26DEGREESOFFREEDOMISDESIGNSOTHATANIMPLEMENTEDSMALLSIZEHUMANOIDROBOTNAMEDTWNHRIIIISABLETOACCOMPLISHFIVEWALKINGMOTIONSTHREEWALKINGEXPERIMENTSAREPRESENTEDTOILLUSTRATETHATTHEPROPOSEDBIPEDSTRUCTURELETSTWNHRIIICANMOVEFORWARD,TURN,ANDSLIPONEELECTRONICCOMPASSANDFOURINFRAREDSENSORSAREMOUNTEDONTWNHRIIITOOBTAINTHEHEADDIRECTIONOFTHEROBOTANDDETECTOBSTACLES,RESPECTIVELYBASEDONTHEOBTAINEDINFORMATIONFROMTHESESENSORS,ADECISIONTREEMETHODISPROPOSEDTODECIDEONEBEHAVIORFROMFIVEMOVEMENTSWALKFORWARD,TURNRIGHTANDLEFT,ANDSLIPRIGHTANDLEFTTWOMATLABSIMULATIONSANDONEREALEXPERIMENTAREPRESENTEDTOILLUSTRATETHATTHEROBOTCANAVOIDOBSTACLESAUTONOMOUSLYANDGOTOTHEDESTINATIONEFFECTIVELYKEYWORDSHUMANOIDROBOT,AUTONOMOUSMOBILEROBOT,OBSTACLEAVOIDANCE,DECISIONTREE1INTRODUCTIONALTHOUGHTHEROBOTHASBEENINVESTIGATEDFORMANYYEARS,THEREARESTILLMANYISSUESTOBESTUDIED,ESPECIALLYINTHEHUMANOIDROBOTS14HARDWAREANDSOFTWAREARCHITECTURES,WALKINGGAITGENERATION,ANDARTIFICIALINTELLIGENCEARETHEMAINRESEARCHFIELDSOFHUMANOIDROBOTSROBOTSOCCERGAMESAREUSEDTOENCOURAGETHERESEARCHESONROBOTICSANDARTIFICIALINTELLIGENCEAITWOINTERNATIONALROBOTSOCCERASSOCIATIONS,ROBOCUP5ANDFIRA6,ADVANCETHISRESEARCHANDHOLDTHEINTERNATIONALCOMPETITIONSANDTHEINTERNATIONALSYMPOSIUMSROBOTSOCCERGAMESARETWOTEAMSCONSTITUTEDBYSEVERALSOCCERROBOTSTOPLAYSOCCERGAMESUNDERSOMESIZERESTRICTIONSANDRULESINTHEFIRACUPEVENT,SEVERALMAINCATEGORIESAREORGANIZEDTHEMICROROBOTSOCCERTOURNAMENTMIROSOT,THESIMULATEDROBOTSOCCERTOURNAMENTSIMUROSOT,THEROBOTSOCCERTOURNAMENTROBOSOT,ANDTHEHUMANOIDROBOTSOCCERTOURNAMENTHUROSOTINTHEHUROSOTCATEGORY,THEHUMANOIDROBOTHASTODETECTALLINFORMATIONFROMTHEGAMEFIELDANDDECIDESITSSTRATEGYBYITSELFTHEREAREMANYROBOTSINTHEMATCHFIELD,SOTHEROBOTMUSTHAVETHEABILITYTOAVOIDTHECOLLISIONWITHOTHERROBOTSANDWALKTOANAPPROPRIATEDESTINATIONTHUSOBSTACLERUNISACOMPETITIONCATEGORYINTHEHUROSOTLEAGUEOFFIRACUPTHEMAINIDEAOFTHISCOMPETITIONCATEGORYISUSEDTOTESTTHEABILITYOFOBSTACLEAVOIDANCEOFTHEROBOTINGENERAL,VISIONSENSORS,ULTRASONICSENSORS,ANDINFRAREDSENSORSAREUSUALLYUSEDTODETECTOBSTACLESINTHESOCCERGAME711INTHISPAPER,AMECHANICALSTRUCTUREWITH26DEGREESOFFREEDOMISDESIGNSOTHATANIMPLEMENTEDSMALLSIZEHUMANOIDROBOTNAMEDTWNHRIIITAIWANHUMANOIDROBOTIIIISABLETOACCOMPLISHFIVEWALKINGMOTIONSWALKFORWARD,TURNRIGHTANDLEFT,ANDSLIPRIGHTANDLEFTONEDIGITALELECTRONICCOMPASSANDFOURINFRAREDSENSORSAREINSTALLEDONTWNHRIIIBASEDONTHEINFORMATIONOBTAINEDFROMTHESESENSORS,ADECISIONTREEMETHODISPROPOSEDTODETERMINEONEBEHAVIORFROMTHESEFIVEMOVEMENTSINEACHDECISIONSOTHATTWNHRIIICANAVOIDOBSTACLESANDGOTOADESTINATIONEFFECTIVELYTHERESTOFTHISPAPERISORGANIZEDASFOLLOWSINSECTION2,THESYSTEMARCHITECTUREOFTWNHRIIIISDESCRIBEDINSECTION3,ADECISIONTREEMETHODFOROBSTACLEAVOIDANCEISPROPOSEDANDTWOSIMULATIONRESULTSANDONEPRACTICALTESTONTWNHRIIIAREDESCRIBEDINSECTION4,SOMECONCLUSIONSAREMADE2SYSTEMARCHITECTUREOFTWNHRIIITHESYSTEMARCHITECTUREOFTWNHRIIIISDESCRIBEDINTHISSECTIONTHEHEIGHTOFTWNHRIIIIS46CMANDTHEWEIGHTIS31KGWITHBATTERIESTHEFRAMEWORKSOFTWNHRIIIAREMAINLYFABRICATEDFROMALUMINUMALLOY5052INORDERTOREALIZETHECONCEPTSOFLIGHTWEIGHT,WEARRESISTING,HIGHSTIFFNESS,ANDWIDEMOVABLERANGEEACHACTUATORSYSTEMOFTHEJOINTCONSISTSOFAHIGHTORQUEANDAGEARTHEROTATINGSPEEDANDROTATINGANGLEOFEACHJOINTAREDESIGNEDBASEDONTHERESULTOFCOMPUTERPROGRAMTHEMECHANICALSTRUCTUREANDELECTRONICSTRUCTUREOFTWNHRIIIAREDESCRIBEDASFOLLOWS21MECHANICALSTRUCTUREMECHANICALSTRUCTUREDESIGNISTHEFIRSTSTEPINTHEHUMANOIDROBOTDESIGNTHEDEGREESOFFREEDOMDOFSCONFIGURATIONFORTWNHRIIIISDESCRIBEDINFIGURE1,WHERE26DEGREESOFFREEDOMAREIMPLEMENTEDANDTHEROTATIONALDIRECTIONOFEACHJOINTISDEFINEDBYUSINGTHEINERTIALCOORDINATESYSTEMFIXEDONTHEGROUNDTHEREARE2DEGREESOFFREEDOMONTHENECK,2DEGREESOFFREEDOMONTHEWAISTANDTRUNK,8DEGREESOFFREEDOMONTHEARM,AND14DEGREESOFFREEDOMONTHETWOLEGSAPHOTOGRAPHANDSOMEMECHANICALVIEWSOFTWNHRIIIARERESPECTIVELYDESCRIBEDINFIGURE2ANDFIGURE3HUMANBODYMECHANISMBASICALLYCOMPRISESBONES,JOINTS,MUSCLES,ANDTENDONSITISIMPOSSIBLETOREPLACEALLOFTHEMUSCULARSKELETALSYSTEMBYCURRENTMECHANICALANDELECTRONICCOMPONENTSTHEREFORE,THEPRIMARYGOALOFTHEHUMANOIDROBOTMECHANICALDESIGNISTOLETTHEIMPLEMENTEDROBOTCANIMITATEEQUIVALENTHUMANMOTIONAMECHANICALSTRUCTUREISDESIGNEDANDIMPLEMENTEDSOTHATTHEIMPLEMENTEDHUMANOIDROBOTCANFINDTHEBALL,WALKFORWARD,TURNRIGHTANDLEFT,ANDSLIPRIGHTANDLEFTTHEDETAILSOFTHEDEVELOPMENTOFTHEHEAD,WAISTANDTRUNK,ARMS,ANDLEGSAREDESCRIBEDASFOLLOWS211HEADTHE3DMECHANISMDESIGNANDDOFSDIAGRAMOFTHEHEADAREDESCRIBEDINFIGURE4,WHERETHEHEADOFTWNHRIIIHAS2DEGREESOFFREEDOMANDEACHDEGREEISDESCRIBEDBYTHENUMBERINBTHERAWANDPITCHMOTIONSAREIMPLEMENTEDONTHEHEADSOTHATITCANTURNRIGHTANDLEFTANDUPANDDOWNSOMECORRESPONDINGBEHAVIORSBETWEENHUMANANDTWNHRIIIINTHEJOINTSOFHEADAREDESCRIBEDINTABLE1212WAISTANDTRUNKTHE3DMECHANISMDESIGNANDDOFSDIAGRAMOFTHEWAISTANDTRUNKAREDESCRIBEDINFIGURE5,WHEREEACHWAISTANDTRUNKOFTWNHRIIIHAS2DEGREESOFFREEDOMANDEACHDEGREEISDESCRIBEDBYTHENUMBERINBTHEWAISTANDTRUNKAREDESIGNEDBASEDONTHECONCEPTTHATROBOTCANADJUSTTHETRUNKMOTIONSTOCOMPENSATEFORTHEROBOTSWALKMOTIONSOMECORRESPONDINGBEHAVIORSBETWEENHUMANANDTWNHRIIIINTHEJOINTSOFWAISTANDTRUNKAREDESCRIBEDINTABLE2213ARMSTHE3DMECHANISMDESIGNOFTHEARMSAREDESCRIBEDINFIGURE6,WHEREEACHARMOFTWNHRIIIHAS4DEGREESOFFREEDOMTHEARMSOFTHEROBOTAREDESIGNEDBASEDONSOMEBEHAVIORSOFHUMANSARMSFOREXAMPLE,ITSARMCANHOLDANOBJECTSUCHASABALLSOMECORRESPONDINGBEHAVIORSBETWEENHUMANANDTWNHRIIIINTHEJOINTSOFARMSAREDESCRIBEDINTABLE3214LEGSINORDERTOREALIZETHENORMALWALKINGMOTIONOFHUMAN,7DEGREESOFFREEDOMAREADOPTEDTOIMPLEMENTTHEJOINTSOFONELEGLEGISTAKEGREATPARTWEIGHTOFWHOLEBODY,DUETOTHEKNEEJOINTINORDERTOIMPROVETHEROBUSTOFTHELEG,TWOMOTORSAREDESIGNEDANDIMPLEMENTEDINONEKNEEJOINTTHE3DMECHANISMDESIGNANDDOFSDIAGRAMOFTHELEGSAREDESCRIBEDINFIGURE7,WHEREEACHLEGOFTWNHRIIIHAS7DEGREESOFFREEDOMANDEACHDEGREEISDESCRIBEDBYTHENUMBERINBTHELEGSAREDESIGNEDBASEDONTHECONCEPTTHATROBOTCANACCOMPLISHTHEHUMANWALKINGMOTIONSOMECORRESPONDINGBEHAVIORSBETWEENHUMANANDTWNHRIIIINTHEJOINTSOFLEGSAREDESCRIBEDINTABLE422ELECTRONICSTRUCTUREINTHEELECTRONICSTRUCTUREDESIGNFORTWNHRIII,THESYSTEMBLOCKDIAGRAMISDESCRIBEDINFIGURE8,WHERE26SERVOMOTORSWITHHIGHTORQUESAREUSEDASTHEACTUATORSOFTHEROBOTINORDERTOBUILDAFULLYAUTONOMOUSVISIONBASEDHUMANOIDROBOT,A16BITDSPPROCESSORWITHACMOSSENSORISCHOSENTOPROCESSTHEVISIONIMAGEOFENVIRONMENTTHEIMAGEOFTHEFIELDISCAPTUREDBYTHECMOSSENSORANDTHEPOSITIONINFORMATIONOFTHEBALLANDGOALSISPROCESSEDANDEXTRACTEDBYTHEDSPPROCESSORONEELECTRONICCOMPASSANDFOURINFRAREDSENSORSAREMOUNTEDONTWNHRIIITOOBTAINTHEHEADDIRECTIONOFTHEROBOTANDDETECTOBSTACLES,RESPECTIVELYTHEINSTALLEDPOSITIONSANDTHEIRDETECTABLERANGESOFTHESEFOURINFRAREDSENSORSAREDESCRIBEDINFIGURE9ANDFIGURE10,RESPECTIVELYTHEELECTRONICCOMPASSISMOUNTEDONTHEBODYTODETECTTHEHEADDIRECTIONOFTHEROBOTANDTHEGOALDIRECTION,RESPECTIVELYTHERELATIVEANGLEOFGOALDIRECTIONANDROBOTDIRECTIONISSHOWNINFIGURE11INTHECIRCUITDESIGN,THESOPCSYSTEMONAPROGRAMMABLECHIPCONCEPTISAPPLIEDANDIMPLEMENTEDONAFPGACHIPTOREDUCETHECOMPLEXITYOFCIRCUITDESIGNTHEIMPLEMENTEDFPGACHIPCANPROCESSTHEDATAOBTAINEDFROMTHESENSORSANDGENERATEDESIREDPULSESTOCONTROLTHEANGLESOFSERVOMOTORSMANYFUNCTIONSAREIMPLEMENTEDONTHEFPGACHIPTOPROCESSTHEDATAANDCONTROLTHEROBOTSOTHATTHEWEIGHTOFTHEROBOTISREDUCED23WALKINGEXPERIMENTSAMECHANICALSTRUCTUREWITH26DEGREESOFFREEDOMISDESIGNSOTHATTWNHRIIIISABLETOACCOMPLISHFIVEWALKINGMOTIONSWALKFORWARD,TURNRIGHTANDLEFT,ANDSLIPRIGHTANDLEFTITSCONTROLMETHODISBASEDONTHETRYANDERRORMETHODINORDERTOVERIFYTHEEFFECTIVENESSOFTHEIMPLEMENTEDHUMANOIDROBOT,THREEBASICWALKINGSKILLSSTRAIGHTWALK,TURN,ANDSLIPARECARRIEDOUTONAHORIZONTALEVENPLANEANDDESCRIBEDASFOLLOWS231STRAIGHTWALKSOMESNAPSHOTSOFSTRAIGHTWALKINGOFTWNHRIIIARESHOWNINFIGURE12,WHERETHEDISTANCEBETWEENEVERYWHITELINEIS5CMEVERYSTEPOFTHESTRAIGHTWALKINGISABLETOMOVEFORWARD10CM232TURNSOMESNAPSHOTSOFLEFTTURNINGOFTWNHRIIIARESHOWNINFIGURE13,WHERETHEANGLEBETWEENEVERYWHITELINEIS15DEGREESEACHTIMEOFTHEROBOTTURNINGISABLETOTURN30DEGREES233SLIPSOMESNAPSHOTSOFRIGHTSLIPPINGOFTWNHRIIIARESHOWNINFIGURE14,WHERETHEDISTANCEBETWEENEVERYWHITELINEIS5CMEVERYSTEPOFTHEROBOTSLIPPINGISABLETOSLIP10CMFROMTHESEEXPERIMENTRESULTS,WECANSEETHATTHEPROPOSEDMECHANICALSTRUCTURECANLETTWNHRIIIMOVEFORWARD,TURN,ANDSLIPEFFECTIVELY3OBSTACLEAVOIDANCE31DECISIONTREEMETHODOBSTACLERUNISACOMPETITIONCATEGORYINTHEHUROSOTLEAGUEOFFIRACUPASSHOWNINFIGURE15,THEREISAFINISHLINEMARKEDONONESIDEOFTHEPLAYINGFIELDTHISSIDEOFTHEPLAYINGFIELDISCALLEDTHEFINISHSIDETHEOPPOSITESIDEOFTHEPLAYINGFIELDISCALLEDTHESTARTSIDETHETWOOTHERSIDESARECALLEDSIDELINESAROBOTHASCROSSEDTHEFINISHLINEWHENTHEROBOTCROSSESTHEFINISHPLANEANDTOUCHESTHEGROUNDINTHEENDZONEDURINGTHEOBSTACLERUNCOMPETITION,THEROBOTDOESNOTALLOWTOTOUCHANYOBSTACLESTHEROBOTHASTODETECTOBSTACLESANDTHEDIRECTIONOFTHEGOALLINEADECISIONTREEMETHODBASEDONFOURINFRAREDSENSORSISPROPOSEDANDDESCRIBEDINFIGURE16THEBEHAVIOROUTPUTOFTHEDECISIONTREEISTHEROBOTSFIVEBASICMOTIONSINCLUDINGGOFORWARD,30DEGREERIGHTTURN,30DEGREELEFTTURN,SLIPRIGHT,ANDSLIPLEFTSIXTEENBEHAVIORSITUATIONSANDTHEIRCORRESPONDINGMOVEMENTSAREDESCRIBEDINTABLE5THESTRATEGYWILLCHECKTHERELATIVEBEHAVIORFROMTHEDECISIONTREEBEFORETHEROBOTMOVEINORDERTOLETTHEROBOTWALKTOWARDTHEGOALDIRECTION,THEROBOTWILLADJUSTTHEROBOTDIRECTIONTOFACETHEGOALDIRECTIONBASEDONTHEELECTRONICCOMPASSINFORMATIONWHENHEROBOTISINTHESAFESITUATIONB16SITUATION32SIMULATIONANDEXPERIMENTRESULTSINORDERTOILLUSTRATETHEPROPOSEDMETHODCANSUCCESSFULLYAVOIDOBSTACLESANDGOTOTHEDESTINATION,TWOMATLABSIMULATIONSANDONEREALEXPERIMENTAREPRESENTEDFIGURE17ANDFIGURE18ILLUSTRATETHEOBSTACLEAVOIDANCEABILITYOFTHEROBOTBYMATLABSIMULATIONRESULTSINFIGURE17,THEREISONEOBSTACLEONTHEROBOTSWAYTOTHEGOALLINEWHENTHEROBOTDETECTSTHEOBSTACLE,THE“SLIPRIGHT”BEHAVIORISMADEBYTHEPROPOSEDDECISIONTREEMETHODTOAVOIDTHEOBSTACLEBASEDONTHEDETECTEDBEHAVIORSITUATIONB10THEROBOTKEEPSSLIPPINGTOTHERIGHTSIDE,UNTILTHEREISNOOBSTACLEINFRONTOFTHEROBOTWHENTHEDETECTEDBEHAVIORSITUATIONISCHANGEDFROMB10TOB16,THE“MOVETOGOALLINE”BEHAVIORISMADETOLETTHEROBOTWALKTOWARDTHEGOALLINEINFIGURE18,THEREARETWOOBSTACLESONTHEROBOTSWAYTOTHEGOALLINETHEROBOTALSOCHOOSESTHEBEHAVIORFROMTHEPROPOSEDBEHAVIORSTRATEGYATTHELOCATIONOF“SAFEPOINT”,THEROBOTISALREADYINTHESAFESITUATIONTHEREFORE,THEDETECTEDBEHAVIORSITUATIONISB16TOLETTHEROBOTWALKTOWARDTHEGOALLINEASTHEROBOTMOVINGFORWARD,ITDETECTSTHEOTHEROBSTACLETHE“SLIPLEFT”BEHAVIORISMADETOAVOIDTHISOBSTACLEBASEDONTHEDETECTEDBEHAVIORSITUATIONB9THEDETECTEDBEHAVIORSITUATIONWILLCHANGETOB16WHENTHEROBOTISAWAYFROMTHISOBSTACLETHECOMPUTERSIMULATIONRESULTSINFIGURE17ANDFIGURE18ILLUSTRATETHATTHEROBOTCANEFFECTIVELYAVOIDOBSTACLESANDSUCCESSFULLYARRIVETHEGOALLINEBASEDONTHEPROPOSEDDECISIONTREEMETHODINTHEPRACTICALTEST,THEPROPOSEDDECISIONTREEMETHODIMPLEMENTEDONTHETWNHRIIIINAREALTESTGROUNDISDISCUSSEDSIXSEQUENTIALIMAGESTILLSOFTWNHRIIIFORAREALEXPERIMENTOFOBSTACLEAVOIDANCEARESHOWNINFIGURE19,WHERETWOOBSTACLESAREONTHEROBOTSWAYTOTHEGOALLINEONCETWNHRIIIDETECTSTHEOBSTACLEVIATHEINFRAREDSENSORS,THEROBOTWILLDOANAPPROPRIATEBEHAVIORTOAVOIDOBSTACLESWECANSEETHATTWNHRIIICANSUCCESSFULLYAVOIDTWOOBSTACLESBYTHEPROPOSEDDECISIONTREEMETHOD5CONCLUSIONTHESOCCERROBOTNEEDSTOPLAYASOCCERGAMEAUTONOMOUSLYPLAYINGSOCCERGAMEISAGOODTESTPLATFORMTOVERIFYTHEABILITYOFTHEDESIGNEDANDIMPLEMENTEDROBOTTHEREAREMANYROBOTSINTHEMATCHFIELD,SOTHESOCCERROBOTMUSTHAVETHEABILITYTOAVOIDTHECOLLISIONWITHOTHERROBOTSANDMOVETOANAPPROPRIATEDESTINATIONTHUSTHEOBSTACLERUNISACOMPETITIONCATEGORYINTHEHUROSOTLEAGUEOFFIRACUPSOMEBASICWALKINGEXPERIMENTSOFTWNHRIIIHAVEBEENPRESENTEDTOILLUSTRATETHATTHEPROPOSEDMECHANICALSTRUCTUREWITH26DEGREESOFFREEDOMCANLETTWNHRIIIMOVEFORWARD,TURN,ANDSLIPBASEDONTHEOBTAINEDINFORMATIONFROMONECOMPASSANDFOURINFRAREDSENSORSINSTALLEDONTWNHRIII,ADECISIONTREEMETHODISPROPOSEDTWOMATLABSIMULATIONRESULTSANDONEPRACTICALTESTONTWNHRIIIHAVEBEENPRESENTEDTOILLUSTRATETHATTHEPROPOSEDDECISIONTREEMETHODCANLETTHEROBOTEFFECTIVELYAVOIDOBSTACLESANDSUCCESSFULLYGOTOTHEDESTINATIONONECMOSSENSORISINSTALLEDONTWNHRIIISOTHATITCANBEAVISIONBASEDSOCCERROBOTTOAUTONOMOUSLYFINDABALLANDKICKABALLMOREOVER,TWNHRIIIWONCHAMPIONOFTHEHUMANOIDLEAGUEINTAIWANCUP2006INTHEFUTURE,TWNHRIIIWILLBEUSEDTOINVESTIGATETHEWALKINGGAITANDARTIFICIALINTELLIGENCEFOREXAMPLE,SOMEFORCESENSORSWILLBEINSTALLEDONTWNHRIIITOSTUDYTHEBIPEDWALKINGCONTROLONEVENORUNEVENGROUNDMORERESEARCHONARTIFICIALINTELLIGENCEWILLBECARRIEDONTWNHRIIITOMAKEITTOBEANINTELLIGENTROBOTACKNOWLEDGEMENTTHISRESEARCHWASSUPPORTEDINPARTBYTHENATIONALSCIENCECOUNCILNSCOFTHEREPUBLICOFCHINAUNDERCONTRACTNSC952221E032057MY3ANDTHEMETALINDUSTRIESRESEARCHDEVELOPMENTCENTREMIRDC,KAOHSIUNG,TAIWAN,REPUBLICOFCHINAREFERENCES1OGURA,Y,AIKAWA,H,SHIMOMURA,K,KONDO,H,MORISHIMA,A,LIM,HOANDTAKANISHI,A,“DEVELOPMENTOFANEWH