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基于人体动作识别与语音识别的舞蹈机器人

—— ——2008年英特尔杯大学生电子设计竞赛嵌入式系统专题邀请赛作品简介
作者:邓磊,薛源海,代明月,吴琼之 北京理工大学时间:2008-11-10来源:电子产品世界

本作品是一个以EC5主板为平台构建的多功能智能舞蹈机器人DDX-08。它具备单目视觉能力,通过人脸识别算法和跟踪算法,实现了人体动作的识别和跟踪。在开源的语音开发包SAPI的支持下,通过语音识别,语音合成和图形界面完成友好的人机交互。通过自行设计的驱动电路控制执行机构协调地完成了机器人的动作。安装了履带底盘和电池后,DDX-08实现可移动性。自制的机器人框架不但使结构稳定,而且保证了各硬件模块的良好散热。

复杂背景下无任何传感器的人体手臂动作的识别和跟踪是本作品最大的特色和创新。改进的CAMSHIFT算法在其中起了关键性作用。DDX-08的创新在于通过控制伺服电机将识别的结果直观地展现在用户眼前。分层结构设计是本作品机械部分的主要特色。此外DDX-08还实现了非特定人语音的识别。

使用时,用户需穿长袖。用户需要先做一个初始动作对DDX-08进行标定,随后DDX-08便可模仿表演者的手臂平面动作。结合语音,它可以实现智能学习功能。用户将语言和舞蹈教给机器人后,便可通过语音控制DDX-08表演学会的动作。

DDX-08 is a multi-purpose intelligence dancing robot based on EC5-1719CLDNA, which can identify and track human motion through monocular machine vision and tracking algorithm under complex background. With the advantage of open source SAPI, DDX-08 can complete the human-computer interaction through the speech recognition, speech synthesis and the graphical interface. The human motion is determined by servo motor and DC motor which is controlled by the driving circuit. The robot can be mobile after installing the caterpillar band chassis and the battery in it. With the self-made frame, the structure becomes stable and good to heat dissipation. 

It is human motion recognition and tracking without sensor in complex background that DDX-08 mostly features for, in which CAMSHIFT algorithm plays a key role. DDX-08 also features for that the result of recognition can be shown with the servo motors and DC motors control system. Part of the main characteristic of our machine is manifested through the concept of stratification structure design. In addition, speech recognition of non-specific speaker is also a feature of the system.

An initialization pose is required when it is used for the first time, which can be used in system calibration. DDX-08 can imitate the flat motion of the user who requires dressing long sleeves. With voice interactive system, it may realize the intelligent study function. The user can control DDX-08 to perform the dance through voice control.

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关键词: 英特尔 嵌入式 竞赛

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