本論文設計實現一個小型人形機器人的行走訓練平台，其可以對一個在長×寬為300(公分)×120(公分)場地上的小型人形機器人分別做定位與追蹤，並且可以對人形機器人進行升降與移動的動作。在平台系統的設計與實現上，主要有三項：(1)視覺為基礎的定位系統，(2)通訊與策略系統，以及(3)模糊控制系統。在視覺為基礎的定位系統之設計與實現上，本系統分別在平台與機器人上面放置一些定位色塊與機器人色塊，並且使用二個攝影機來擷取這些色塊的影像資訊，以及設計一個視覺系統來對平台與機器人做定位。在通訊與策略系統之設計與實現上，本系統負責傳送定位系統所得到的平台與機器人的座標，並且做策略分析來決定平台所需進行的動作。在模糊控制系統之設計與實現上，本系統在X軸方向移動與Y軸方向移動分別提出一個兩輸入一輸出的模糊控制器來控制Ｘ軸方向與Ｙ軸方向的馬達，讓平台具有X軸與Y軸移動的能力，並且對人形機器人的行走做自主的目標追蹤移動。最後，由定位誤差與小型人形機器人移動的追蹤實驗結果可知，本論文所設計實現的小型人形機器人的行走訓練平台，確實可以有效的應用在小型人形機器人的行走訓練上。 In this thesis, a walking training platform for a small-sized humanoid robot is designed and implemented. It also can locate and track the small-sized humanoid robot in the field (the size of length × width is 300 cm × 120 cm). Moreover, it can raise and lower the robot. In the design and implementation of this platform, there are three main parts: (1) vision-based localization system, (2) communication and strategy systems, and (3) fuzzy control system. In the design and implementation of the vision-based localization system, some color blocks are placed on the platform and robot. Moreover, two cameras are used to extract the image information of these color blocks and a vision system is designed to obtain the locations of the platform and the robot. In the design and implementation of the communication and strategy systems, the communication system is designed to send the coordinates of the platform and robot. The strategy system is designed to do strategic analysis and decide the motion of the platform. In the design and implementation of the fuzzy control system, a two-input one-output fuzzy control system in the X-axis direction and Y-axis direction is respectively designed to control the motor speed in the X-axis direction and Y-axis direction. Finally, some experimental results are presented to show that the implemented platform can indeed effectively be used in the walking training of a small-sized humanoid robot.
