Research On Movement Planning And Control Method Of Humanoid Robot

Humanoid robots are an important branch in the field of robot’s research which can emulate the human’s behavior and performance,understand and adapt to the surrounding environment,execute various operations agilely,so they become the working and communicating companions of human beings.The research on humanoid robot control system covers almost all the fields of robotics,which mainly involves mechanics,motion physics,machine vision and artificial intelligence etc.Therefore,the research of humanoid robot has always been the focus of the robotic research.In this dissertation,some works on the humanoid robot movement planning and control methods are carried out as the followings:(1)Based on the topology and structural parameters of the robot arm,the motion simulation model is established,and the direct and inverse kinematics are deduced as well as the direct and inverse dynamics model.A smoother movement trajectory using the Bezier curve joint interpolation method is implemented and the error of the robot dynamics model is compensated by means of torque calculating method.Then,the robot path planned with D* and PRM algorithm is realized to meet the requirements of autonomous path planning under complicated map environment,and the trajectory error is corrected during robotic movement by making use of the environmental map and Kalman particle filter algorithm.Monte Carlo particle filter algorithm is employed to solve the robot’s "kidnapping" problem and the self-localization is achieved.(2)Taking the humanoid robot NAO as the researched object,this dissertation proposes a monocular vision localization algorithm suitable for NAO robot to fulfill the localization of the target object by calibrating its own camera’s internal parameters and distortion coefficients.The relative position between the robot-based coordinate system and the target coordinate system is obtained by using the position-based visual servo model.Finally,the feasibility of the robot’s positioning accuracy with monocular vision and pick-and-place behavior with visual servo is verified by experiments.The results show that the method presented in this dissertation can satisfy the requirements of humanoid robot’s visual servo task and improve the intelligence degree of humanoid robot.(3)In order to realize the remote control and supervision of the robot,the man-machine interface software system for humanoid robot is developed with the NAO robot operating system served as the kernel development environment,which mainly includes the pose transformation module,the image processing module,the robot teaching module,the sensor data acquisition module,target recognition and positioning module,path planning module and security status monitoring module.Taking the task of NAO robot playing soccer as an example,it proves that the software can accomplish the imitating functions of most humanoid robots for research tasks.