| 具有单目嵌入式视觉的仿人机器人分层控制系统设计 |
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| 引用本文： | 韩吉烨,陈宇,钟秋波,赵余. 具有单目嵌入式视觉的仿人机器人分层控制系统设计[J]. 哈尔滨理工大学学报, 2012, 17(2): 45-49 |
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| 作者姓名： | 韩吉烨 陈宇 钟秋波 赵余 |
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| 作者单位： | 东北林业大学信息与计算机工程学院,黑龙江哈尔滨,150040 |
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| 基金项目： | 中央高校基本科研业务费，教育部大学生创新项目 |
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| 摘 要： | 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.
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| 关 键 词： | 仿人机器人 跑步 运动规划 嵌入式视觉 |
Running Motion Planning for Humanoid Robot Based on Embedded Vision System |
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| HAN Ji-ye , CHEN Yu , ZHONG Qiu-bo , ZHAO Yu. Running Motion Planning for Humanoid Robot Based on Embedded Vision System[J]. Journal of Harbin University of Science and Technology, 2012, 17(2): 45-49 |
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| Authors: | HAN Ji-ye CHEN Yu ZHONG Qiu-bo ZHAO Yu |
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| Affiliation: | (School of Information and Computer Engineering,Northeast Forestry University,Harbin 150040,China) |
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| Abstract: | 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. |
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| Keywords: | humanoid robot running motion planning embedded vision |
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