隨著網路的發展越來越興盛，人們亦越來越習慣在網路上進行資訊交換。因 此，在機器人控制器的選擇，也不再侷限於控制單一的機器人。本論文的目的在於提供一個大眾化的機器人劇場表演製作平台；可控制多隻機器人；每隻機器人根據劇本編輯平台所設定的動作做表演。無論何時何地，任何人想要使用機器人劇場表演製作平台來設計機器人劇本，只要手邊有一個可以上網的裝置，即可進
行。機器人劇場表演製作平台分為三個部分：人偶劇場之圖形化劇本編輯平台(GAP)、劇場機器人之轉譯器開發(SI)、表演機器人。本論文的重點在於圖形化劇本編輯平台以及表演機器人(DARwIn-OP)的實作。人偶劇場之圖形化劇本編輯平台提供多種機器人給使用者選擇；使用者透過拖曳圖片的操作方法可輕鬆的設計自己的機器人劇本；以圖片來表示機器人的動作、行為以及劇本；在每一次的劇本更新時，系統會自動將劇本存成XML檔案格式。此圖形化劇本編輯平台提供多組姿勢或者是行為給使用者；使用者可自行輸入機器人台詞，機器人會說出
使用者所輸入的台詞；在情緒表達方面，使用者可自行設定動作速度，藉以傳達該事件的情緒。系統最後以劇本”do-as-I-do”來呈現，並將此劇本錄製成影片放在
YouTube: “http://www.youtube.com/watch?v=v8ErTOgAQSo”.

With the development of the network, people are increasingly used to exchanging information on the Internet. Therefore, the capability of robot controller
should not be limited to control robots locally. The objective of this thesis is to provide a system, the screenplay based performance platform of Robotic puppet shows (SBPP), commanding multiple robots; each robot performing its own role based on a script composed by the developed authoring tool. Wherever and whenever a user wants to use SBPP, he/she just needs connect to the network and begins to design a script. SBPP consists of three parts: the graphic authoring platform (GAP) of screenplays for robotic puppet shows, the screenplay interpreter (SI) for
multi-morphic robots, and robots themself. The work of this thesis is concentrated on the implementation of the GAP and robots (model: DARwIn-OP) control. The GAP provides options for a variety of robots to users. The users can easily design their own robot scripts merely by drag-and-drop operating on icons representing the actions, behavior, and short scripts, respectively. Whenever a script is created or updated, GAP will automatically save the script as an XML file format internally. In addition, robots can be conducted to express their emotions orally by utter the lines composed. The system is demonstrated by a play of “do-as-I-do” and recoded in a video at YouTube:”
http://www.youtube.com/watch?v=v8ErTOgAQSo”.

摘要................................................................................................................................ i
Abstract .......................................................................................................................... ii
TABLE OF CONTENTS ............................................................................................. iii
LIST OF FIGURES ....................................................................................................... v
LIST OF TABLES ....................................................................................................... vii
I. Introduction ................................................................................................................ 1
1.1 Motivation ...................................................................................................... 1
1.2 Objective ........................................................................................................ 2
1.3 Organization of thesis .................................................................................... 3
II. Background ............................................................................................................... 5
2.1 The Introduction of System Environment and Development Tool .................. 5
2.1.1 System Environment (LAMP) .............................................................. 5
2.1.2 Development Tool of User Interface ................................................... 11
2.1.3 The Communication between the Platform and Robots ..................... 12
2.2 The Robot of Theater Performances ............................................................ 14
2.2.1 The Principle of The Robot ................................................................ 14
2.2.2 Introduction of DARwIn-OP ............................................................. 16
2.3 Human Machine Interface ............................................................................ 17
2.3.1 The Principles of Human Machine Interface ...................................... 18
2.3.2 Robot Control Interface ...................................................................... 19
2.4 Related Work ................................................................................................ 23
III. System Analysis and Design .................................................................................. 25
3.1 System Architecture ....................................................................................... 25
3.1.1 System Architecture Analysis ............................................................. 25
3.1.2 Introduction of System Architecture ................................................... 28
3.1.3 Noun of GAP ...................................................................................... 29
3.2 System Analysis ............................................................................................. 30
3.2.1 5W1H Analysis ................................................................................... 31
3.2.2 Functional and Non-functional Requirement ..................................... 32
3.2.3 Use Case Analysis .............................................................................. 34
3.2.4 Analysis Model .................................................................................. 37
3.3 System Procedure......................................................................................... 39
iv
3.3.1 GAP procedure design ........................................................................ 39
3.3.2 DARwIn-OP procedure design .......................................................... 40
3.4 The Architecture of GAP and Robot ............................................................ 41
3.4.1 Design of GAP ................................................................................... 41
3.4.2 XML Script ........................................................................................ 42
3.4.3 Communication between GAP and Robots ....................................... 44
IV. Implementation ................................................................................................... 46
4.1 Setting of GAP Environment ......................................................................... 46
4.2 Implementation of GAP ............................................................................... 48
4.2.1 Database Setting .................................................................................. 48
4.2.2 GAP Function Implementation ........................................................... 49
4.2.3 XML Script Implementation ............................................................... 59
4.3 Implementation of DARwIn-OP .................................................................. 60
4.3.1 Client of DARwIn-OP ....................................................................... 61
4.3.2 Server of DARwIn-OP ....................................................................... 63
4-4 GAP Experiment ............................................................................................ 67
V. Conclusion and Future Work ............................................................................... 70
5-1 Conclusion ..................................................................................................... 70
5.2 Future Work ................................................................................................... 70
REFERENCE ............................................................................................................... 72
Appendix ...................................................................................................................... 76

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