Kinematic Analysis And Motion Simulation Experiment Of Small Humanoid Soccer Robot

Currently humanoid soccer robot is an important platform for humanoid robot technology research, involving robotics, artificial intelligence, automatic control and other fields, is one of the most challenging topics of artificial intelligence. Kinematic analysis and motion planning are the key technology of humanoid robot research, also the basis to achieve the basic movements such as walking. In this paper, focused on the research of kinematics analysis and motion simulation of small humanoid soccer robot .The results successfully applied in the international humanoid robot Olympic competitions.First, the overall humanoid soccer robot system was studied, including mechanical system design, mainly introduced the design of the leg; robot control system and decision-making system based on FSM(finite-state machine), also visual system and image Segmentation;Secondly, the humanoid soccer robot kinematics equations were derived, based on the analysis of the geometric body and the walking characteristics of robot, joined the agency constraints, and discussed the sources of these constraints, the inverse kinematic transformation, achieved the inverse application of inverse kinematics equations, and used the "sliding bar" simplified methods to validate;Then, using the calculated joint angle data, to set the robot simulation software simulation program in ADAMS and PRO / E. Carried out design and analysis of walking, shooting, stand up, and other motions, and focused on walking gait planning;Finally, developed the motion editing and control software and robot remote control system. Finished software simulation and action shows based on the above research of walking and other movements, and carried out experimental analysis...