NAO机器人的目标识别与运动设计
发布时间：2018-11-04 19:43
【摘要】：仿人机器人是研究人类智能的高级平台,它是综合了机械、电子、传感器、计算机、人工智能、控制技术、仿生学等多种学科的智能机械结构。随着机器人技术的成熟,仿人机器人在我们的生活中起到了越来越重要的作用,已成为当前机器人领域中的热点研究方向之一。因此,对仿人机器人的研究有着重要的意义。机器人足球赛是当前仿人机器人领域研究中的热门方向,它涉及了模式识别、机器人学、多智能体系统等多个技术学科。本文以当前影响力最大的RoboCup机器人足球赛标准平台组比赛为背景,针对NAO机器人对目标的视觉识别和自身动作的运动学设计问题进行了一系列的研究。首先,本文介绍了 NAO机器人硬件结构和软件开发平台,并对提出了 NAO机器人目标识别相关的图像处理算法,并对机器人的相机进行了标定;然后针对NAO机器人的下肢结构及运动系统,基于此建立了 NAO机器人的双下肢运动学模型,实现了对NAO机器人正运动学问题的求解;最后将提出的方法进行场地测试,通过实验论证了本文中所提出的算法的正确性和有效性。
[Abstract]:Humanoid robot is an advanced platform for the study of human intelligence. It is an intelligent mechanical structure which integrates mechanical, electronic, sensor, computer, artificial intelligence, control technology, bionics and so on. With the development of robot technology, humanoid robot plays a more and more important role in our life, and has become one of the hot research directions in the field of robot. Therefore, the study of humanoid robot is of great significance. Robot soccer is a hot research field in the field of humanoid robot. It involves many technical subjects such as pattern recognition, robotics, multi-agent system and so on. In this paper, based on the most influential RoboCup robot soccer standard platform group competition as the background, a series of research on the visual recognition and kinematics design of the NAO robot to the target is carried out. Firstly, the hardware structure and software development platform of NAO robot are introduced, and the image processing algorithm related to target recognition of NAO robot is proposed, and the camera of the robot is calibrated. Then, aiming at the lower limb structure and motion system of NAO robot, the kinematics model of NAO robot is established, and the forward kinematics problem of NAO robot is solved. Finally, the proposed method is tested on the site, and the correctness and effectiveness of the proposed algorithm are proved by experiments.
【学位授予单位】：内蒙古大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2310954
[Abstract]:Humanoid robot is an advanced platform for the study of human intelligence. It is an intelligent mechanical structure which integrates mechanical, electronic, sensor, computer, artificial intelligence, control technology, bionics and so on. With the development of robot technology, humanoid robot plays a more and more important role in our life, and has become one of the hot research directions in the field of robot. Therefore, the study of humanoid robot is of great significance. Robot soccer is a hot research field in the field of humanoid robot. It involves many technical subjects such as pattern recognition, robotics, multi-agent system and so on. In this paper, based on the most influential RoboCup robot soccer standard platform group competition as the background, a series of research on the visual recognition and kinematics design of the NAO robot to the target is carried out. Firstly, the hardware structure and software development platform of NAO robot are introduced, and the image processing algorithm related to target recognition of NAO robot is proposed, and the camera of the robot is calibrated. Then, aiming at the lower limb structure and motion system of NAO robot, the kinematics model of NAO robot is established, and the forward kinematics problem of NAO robot is solved. Finally, the proposed method is tested on the site, and the correctness and effectiveness of the proposed algorithm are proved by experiments.
【学位授予单位】：内蒙古大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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