基于Kinect的仿人机器人控制系统

发布时间：2018-11-21 14:09

【摘要】：机器人技术代表了当今社会最先进的智能控制技术,是集机械、电子、计算机、材料、传感器、控制技术等多门科学于一体的技术。随着无线WIFI网络技术的不断发展,除了在原有的传统控制领域有所发展,还可以把无线网络技术应用在机器人技术上,使机器人更加智能,能更好的为人们服务。体态感知作为一种新兴的人机交互技术,随着各种体感设备的研发成功,将体感感知与机器人结合已变成一个非常热门的课题。利用体感传感器Kinect实现对类人型体感机器人的控制,是使人能够与远处真实世界实现良好交互的真实有效手段,将网络通讯的应用扩展到一个全新的控制领域,尤其是云端结合的仿人形智能机器人,在Kinect体感传感器首次问世之后,很自然便成为了一个研究热点。本文将体态感知、无线网络和机器人技术结合起来,设计了一款基于Kinect传感器的仿人机器人控制系统,介绍了利用Kinect建立人体关节模型、机器人的步态规划、仿人机器人的软硬件实现以及搭建了测试平台等方面的内容。为实现对具有16个自由度仿人机器人的姿态控制,采用Kinect传感器对人体姿态的坐标数据进行采集,利用骨骼追踪技术根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件,建立人体关节模型,并利用空间向量法对仿人机器人的步态规划以及重心控制的算法做出分析,解析各关节的转动角度,经由无线WIFI模块向仿人机器人发送指令以控制舵机的运动,最终实现对机器人的控制,搭建了基于Kinect传感器的测试平台。测试结果表明,仿人机器人上肢在运动范围内无死角,通过对重心的控制,下肢可实现简单的步行,符合预期目标。经过大量测试,以Kinect作为传感器机器人控制系统具有空间定位稳定,步态规划准确,信号刷新速度快,能快速跟踪人体动作,系统整体上完成预定目标,实现人作为控制器对机器人的基本控制。
[Abstract]:Robot technology represents the most advanced intelligent control technology in our society. It is a multi-science technology which integrates mechanical, electronic, computer, material, sensor, control technology and so on. With the continuous development of wireless WIFI network technology, in addition to the development of the original traditional control field, the wireless network technology can also be applied to the robot technology, making the robot more intelligent and better service for people. As a new human-computer interaction technology, body perception has become a very hot topic with the success of research and development of various somatosensory devices. Using Kinect sensor to control humanoid robot is a real and effective way to realize good interaction with the distant real world. The application of network communication is extended to a new control field. Especially the humanoid intelligent robot combined with cloud has naturally become a research hotspot after the first appearance of Kinect somatosensors. In this paper, a humanoid robot control system based on Kinect sensor is designed by combining posture perception, wireless network and robot technology. The human joint model is built by using Kinect, and the robot gait planning is introduced. The hardware and software of humanoid robot and the test platform are built. In order to realize the attitude control of humanoid robot with 16 degrees of freedom, the coordinate data of human body attitude is collected by Kinect sensor, and the upper computer software based on Simple Open NI library is developed by using Processing software based on the coordinate information of bone tracing technology. The joint model of human body is established and the algorithm of gait planning and center of gravity control of humanoid robot is analyzed by using space vector method, and the rotation angle of each joint is analyzed. Through the wireless WIFI module to the humanoid robot to send instructions to control the motion of the steering gear, finally achieve the control of the robot, build a testing platform based on Kinect sensor. The test results show that the upper limb of humanoid robot has no dead angle in the range of motion. By controlling the center of gravity, the lower limbs can walk simply and meet the expected goal. After a lot of tests, the Kinect as a sensor robot control system has the advantages of stable space positioning, accurate gait planning, fast signal refresh speed, fast tracking of human actions, and the system as a whole accomplishes the predetermined target. The basic control of robot is realized by human being as controller.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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