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標題: 人型機器人之模仿能力探討與實作
A imitation system for humanoid robot with implementation
作者: 張人祐
Jhang, Ren-You
關鍵字: neural network;人型機器人;humanoid robot;self-learning;motion imitation;動作模仿;自我學習;類神經網路
出版社: 資訊科學與工程學系所
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The humanoid robot has become more and more popular. Account of the high devise threshold of multi degree of freedom and complicated motions, a thorough motion imitation system enables us to improve and accelerate the effectiveness of the research and development of robot.
There are many methods about motion imitation, like being located by a third party, calculating mathematics about dynamics, wearing sensors or something is easily identified, and using costly sensors(such as ultrasound or laser). But this research is mainly to design a motion imitation system with learning ability and approve it on the humanoid robot. Adopting some kind of new ideas in the aspect of devise system, all motions are to be simplified to lines like cartoons. Besides, learning and imitate, we are proposing a new imitative robot system based on Back-propagation neural network (BNN). The objective of this work is to implement imitative system based on humanoid robot that can imitate human's motions and can recall all motions that have been trained.
其他識別: U0005-0907200813440800
Appears in Collections:資訊科學與工程學系所

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