Omnidirectional Kicking Method of Humanoid Soccer Robot Based on Double Balance Control Mechanism
A football robot and robot technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of low application efficiency, inability to complete kicking action quickly, accurately and stably, and resistance to external interference Not advanced question
Inactive Publication Date: 2016-01-20
NANJING UNIV OF POSTS & TELECOMM
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[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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[0056] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0057] Such as figure 2 As shown, the present embodiment provides a method for omnidirectional kicking of a humanoid soccer robot based on a double balance control mechanism, including a kick point selection mechanism, foot space trajectory planning, joint angle calculation and a double balance control mechanism,
[0058] Step 1. Kicking point selection mechanism: take the ball as the center and target offset TOffsetP as the radius to determine a circle. The points on the circle are all feasible kicking points K1, K2...Kn. Kick cost value KickCost is analyzed; select the kick point when the kick cost value KickCost is the minimum value to obtain the minimum cost kick point, and control robot A to walk to the minimum cost kick point; the kick point in step 1 The selection of the minimum cost kick point in the selection mechanism includes ste...
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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 football, and in particular relates to an omnidirectional kicking method of a humanoid soccer robot 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 humanoid soccer robots, it is easier to enter human life. Therefore humanoid soccer robot has become one of the hotspots of annoying robotics research. [0003] In 1996, the RoboCup International Federation was established and an exhibition game was held in Japan. In the RoboCup competition in 2002, the humanoid competition was launched. The competition requires humanoid soccer robots to respond quickly and be able to engage in more intense confrontation. There...
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IPC IPC(8): G05B13/04
Inventor 梁志伟刘娟郝越朱松豪
Owner NANJING UNIV OF POSTS & TELECOMM