Method for kicking ball at all directions by humanoid soccer robot based on double-balance control mechanism

Abstract

The invention provides a method for kicking a ball at all directions by a humanoid soccer robot based on a double-balance control mechanism. The method comprises the following steps of determining a ball kicking point with a minimum cost according to a distance cost value and an angle cost value, and controlling the robot to walk to the ball kicking point; transferring the center of gravity of the robot, and using a cubic spline interpolation method to plan feet space trajectory, namely obtaining the reference gesture of the feet movement of the robot at each moment; calculating the angle of each joint of the robot according to the obtained reference gesture by using inverse kinematics knowledge; and maintaining the stability of the robot in the ball kicking process through the double-balance control mechanism fed back by a centroid and a gyroscope. The invention provides a method for kicking a ball at all directions by a humanoid soccer robot based on a double-balance control mechanism; in the ball kicking process of the humanoid robot, kicking the ball at all directions by the robot can be realized through the double-balance mechanism fed back by the centroid and the gyroscope. Compared with the prior art, the method has the advantages of high stability and high execution efficiency.

Description

technical field [0001] The invention belongs to the technical field of humanoid robot kicking ball, and in particular relates to a humanoid soccer robot omnidirectional kicking method based on a double balance mechanism. Background technique [0002] Humanoid soccer robot is a branch of humanoid robot technology research. Compared with general humanoid robot, humanoid soccer robot has the characteristics of small size, light weight and flexible movement. In addition, due to the competitive entertainment of the humanoid football robot, it is easier to enter human life. Therefore, the humanoid soccer robot has become one of the hotspots in the research of annoying robot technology. [0003] In 1996, the RoboCup International Federation was established and an exhibition competition was held in Japan. In the RoboCup competition in 2002, the humanoid group competition was launched. The competition required the humanoid football robot to respond quickly and be able to conduct...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a humanoid soccer robot omnidirectional kicking method based on a double balance mechanism to solve the kicking motion based on specific modules in the prior art, but the application efficiency is not high in dynamic confrontation and limited time , that is, the resistance to external interference is not high, and the problem of being unable to complete the kicking action quickly, accurately and stably

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