基于人體動(dòng)作識(shí)別與語(yǔ)音識(shí)別的舞蹈機(jī)器人

本作品是一個(gè)以EC5主板為平臺(tái)構(gòu)建的多功能智能舞蹈機(jī)器人DDX-08。它具備單目視覺(jué)能力，通過(guò)人臉識(shí)別算法和跟蹤算法，實(shí)現(xiàn)了人體動(dòng)作的識(shí)別和跟蹤。在開源的語(yǔ)音開發(fā)包SAPI的支持下，通過(guò)語(yǔ)音識(shí)別，語(yǔ)音合成和圖形界面完成友好的人機(jī)交互。通過(guò)自行設(shè)計(jì)的驅(qū)動(dòng)電路控制執(zhí)行機(jī)構(gòu)協(xié)調(diào)地完成了機(jī)器人的動(dòng)作。安裝了履帶底盤和電池后，DDX-08實(shí)現(xiàn)可移動(dòng)性。自制的機(jī)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(wú)任何傳感器的人體手臂動(dòng)作的識(shí)別和跟蹤是本作品最大的特色和創(chuàng)新。改進(jìn)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(guò)控制伺服電機(jī)將識(shí)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(jì)是本作品機(jī)械部分的主要特色。此外DDX-08還實(shí)現(xiàn)了非特定人語(yǔ)音的識(shí)別。

使用時(shí)，用戶需穿長(zhǎng)袖。用戶需要先做一個(gè)初始動(dòng)作對(duì)DDX-08進(jìn)行標(biāo)定，隨后DDX-08便可模仿表演者的手臂平面動(dòng)作。結(jié)合語(yǔ)音，它可以實(shí)現(xiàn)智能學(xué)習(xí)功能。用戶將語(yǔ)言和舞蹈教給機(jī)器人后，便可通過(guò)語(yǔ)音控制DDX-08表演學(xué)會(huì)的動(dòng)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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