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Portfolios
胡家瑜
IRHOCS 2015 Competition Wheel Robot
IRHOCS 2015 Competition Wheel Robot
IRHOCS 2015 Competition Wheel Robot
By
胡家瑜
主辦工程師
・
Taichung City, Taiwan
Connect
Background: 通過國際交流機器人技術的教育經驗,擴大教育和服務機器人技術的應用範圍,包含印度尼西亞,台灣,中國,日本,新加坡等國家參賽。 Function: Robot需具備自主取球、閃避障礙物、傳球給人、投籃,及回歸原位等任務。 Results: 開發以麥克納姆輪的四輪輪型機器人為基礎,整合氣壓系統、感測系統及電源系統,達成自主完成競賽任務。 Video link: https://www.youtube.com/watch?v=bZV5a9f8Tm0 Skills: 1.MCU Arduino (設計運動學與加減速、氣壓閉迴路控制) 2.VS MFC (Windows architecture) 3.OpenCV (影像辨識、霍夫找線、角點、k-means clustering) 4.BLDC馬達控制及霍爾元件里程計開發 5.雷達掃描 (辨識籃球位置、障礙物位置) 6.電源系統 (鉛酸蓄電瓶) 7.競賽策略 Difficulties: 1.霍爾元件里程計之應用會遇到實際問題,若輪胎打滑或遇到坑窪,則里程計累計將失效 2.籃框透過2D視覺難以辨識,故採取辨識場地線 (如罰球線特徵)
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胡家瑜
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Published: Feb 6th 2020
29
4
0
Motor Control
PCB
OpenCV
Visual Studio
Arduino
C/C++
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胡家瑜
Industrial 6-DOF Manipulator
RoboCup 2016 German Humanoid Robot Competition