Human type robot kicking action information processing method based on rapid search tree

An information processing method and robot technology, applied in the field of information processing of humanoid robot kicking movements, can solve problems such as interference, inability to complete kicking movements, tedious and boring human labor, etc., and achieve the effect of improving robustness

Active Publication Date: 2012-03-14
TONGJI UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most humanoid robot kicking movements are realized by manually arranging a series of fixed joint positions offline. Minor changes will cause the kicking action to be impossible to complete

Method used

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  • Human type robot kicking action information processing method based on rapid search tree
  • Human type robot kicking action information processing method based on rapid search tree
  • Human type robot kicking action information processing method based on rapid search tree

Examples

Experimental program
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Embodiment

[0034] Such as figure 1 , figure 2 As shown, a method for processing information of a humanoid robot's kicking action based on a fast search tree includes the following steps:

[0035] 1) The robot obtains the current state of the robot through the forward motion model according to the information collected by the joint position sensor 1, the acceleration sensor 2 and the gyroscope 3 in an uncertain environment;

[0036] 2) The processor 4 of the robot calculates the motion trajectory of each joint of the robot required by the fast random search tree according to the current state and the termination state of kicking the ball;

[0037] 3) The motion smoothing filter is used to smooth the joint motion trajectory generated in step 2), and the dynamic filter is corrected to obtain a stable final kicking motion trajectory, and the trajectory is sent to the robot actuator.

[0038] The calculation of robot pose is one of the foundations of action planning, which mainly includes ...

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PUM

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Abstract

The invention relates to a human type robot kicking action information processing method based on a rapid search tree. The method comprises the following steps: 1) according to information acquired by a joint position sensor, an acceleration sensor and a gyroscope, obtaining current state of the robot through a forward movement model under an uncertain environment, and obtaining the current robotstate through the forward movement model; 2) according to the current state and a termination state of kicking of the robot, computing each required joint movement trail of the robot through the rapid random search tree; 3) performing the smooth processing on the joint movement trail in the step 2) through a movement smooth filter, and modifying through a kinetics filter to obtain a stable final kicking movement trail. Compared with the prior art, the method provided by the invention has the advantages of guaranteeing that the robot can reliably kick the ball under the uncertain environment.

Description

technical field [0001] The invention relates to a method for processing information of a robot's kicking motion, in particular to a method for processing information of a humanoid robot's kicking motion based on a fast search tree. Background technique [0002] In recent years, robot soccer games have become more and more popular in colleges and universities all over the world, and in humanoid robot soccer games, robust and effective kicking movements are very important. At present, most humanoid robot kicking movements are realized by manually arranging a series of fixed joint positions offline. Small changes will cause the kicking action to be impossible to complete. Contents of the invention [0003] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a method for processing kicking motion information of a humanoid robot based on a fast search tree to ensure reliable execution of the kicking motion of the robot i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/04A63H13/04
Inventor 陈启军邓方舟许涛
Owner TONGJI UNIV
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