基于人體動作識別與語音識別的舞蹈機器人

本作品是一個以EC5主板為平臺構(gòu)建的多功能智能舞蹈機器人DDX-08。它具備單目視覺能力，通過人臉識別算法和跟蹤算法，實現(xiàn)了人體動作的識別和跟蹤。在開源的語音開發(fā)包SAPI的支持下，通過語音識別，語音合成和圖形界面完成友好的人機交互。通過自行設(shè)計的驅(qū)動電路控制執(zhí)行機構(gòu)協(xié)調(diào)地完成了機器人的動作。安裝了履帶底盤和電池后，DDX-08實現(xiàn)可移動性。自制的機器人框架不但使結(jié)構(gòu)穩(wěn)定，而且保證了各硬件模塊的良好散熱。

復(fù)雜背景下無任何傳感器的人體手臂動作的識別和跟蹤是本作品最大的特色和創(chuàng)新。改進的CAMSHIFT算法在其中起了關(guān)鍵性作用。DDX-08的創(chuàng)新在于通過控制伺服電機將識別的結(jié)果直觀地展現(xiàn)在用戶眼前。分層結(jié)構(gòu)設(shè)計是本作品機械部分的主要特色。此外DDX-08還實現(xiàn)了非特定人語音的識別。

使用時，用戶需穿長袖。用戶需要先做一個初始動作對DDX-08進行標定，隨后DDX-08便可模仿表演者的手臂平面動作。結(jié)合語音，它可以實現(xiàn)智能學(xué)習(xí)功能。用戶將語言和舞蹈教給機器人后，便可通過語音控制DDX-08表演學(xué)會的動作。

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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