具有单目嵌入式视觉的仿人机器人分层控制系统设计

针对仿人机器人的特点,设计了一个具有单目视觉的仿人机器人分层控制系统.通过研究机器人跑步运动的基本原理,在机器人跑步运动中引入手臂摆动姿态,通过最优化跑步过程的总体能效进行步态规划.最后根据FIRA比赛规则,决策系统通过视觉反馈和姿态反馈信息,调用底层动作库,进行短跑运动规划.实验结果表明,该仿人机器人的控制方式效果良好,适合参加竞技类比赛.

Running Motion Planning for Humanoid Robot Based on Embedded Vision System

According to the characters of humanoid robot,a multi-layers control system for humanoid robot based on single vision is present.By studying the basic principles of robotic treadmill exercise,swinging of the robot arms is introduced to the motion of running and optimizing the overall energy cost through the process of running is proposed.Lastly,under the rules of sprint in FIRA,motion planning of sprint is implemented by the decision system via the response of vision and pose of the robot.Experiments show that the method of control presented here is suitable for games of athletics.