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Autonomous humanoid double-arm robot and moving target tracking operating system thereof

A technology of moving targets and robots, applied in the field of robots, can solve problems such as the disaster of dimensionality, and achieve the effect of improving rapidity and robustness

Active Publication Date: 2018-11-20
NANCHANG INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The intelligent grasping robot in the home environment is generally composed of a mobile base and one or more mechanical arms, and the overall degree of freedom often reaches ten or even dozens. Since the complexity of robot motion planning will increase exponentially with the degree of freedom of the robot, The high degree of freedom of the robot will bring the "dimension curse" problem to the overall motion planning
Although the method based on random sampling has achieved great success in the motion planning of high-degree-of-freedom robots, considering the real-time requirements of robot grasping, how to improve the efficiency of motion planning for high-degree-of-freedom robots is still a problem to be solved

Method used

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  • Autonomous humanoid double-arm robot and moving target tracking operating system thereof
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  • Autonomous humanoid double-arm robot and moving target tracking operating system thereof

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Embodiment Construction

[0082] Combine below Figure 1-9 The present invention is further described, but the protection scope of the present invention is not limited to the content.

[0083] Wherein the same components are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "inner" and "outer "respectively refer to directions toward or away from the geometric center of a specific component, and the drawings are all in a very simplified form and use inaccurate ratios, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

[0084] For the sake of clarity, not all features of an actual embodiment are described. In the following description, well-known functions and constructions are not described in detail since they would obscure the invention with unnecessary detail and s...

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Abstract

The invention discloses an autonomous humanoid double-arm robot. The autonomous humanoid double-arm robot comprises a head, a double-wheel differential driving mobile platform, two seven-degree-of-freedom humanoid arms, a moving target simulation platform and a PTZ camera system; and a speedometer, a two-dimensional laser radar system, an ultrasonic obstacle avoidance sensor system, a binocular vision measurement system and the PTZ camera system are arranged in the double-wheel differential driving mobile platform. The autonomous humanoid double-arm robot has the advantages that the double-wheel differential driving mobile platform and the high-redundancy humanoid double-arm robot are utilized to form one high-redundancy humanoid double-arm mobile service robot system based on an ROS operating system; an advanced method for performing integral motion planning on the high-redundancy humanoid double-arm mobile service robot on the basis of an integral speed decomposition control algorithm is provided; a multi-modal information fusion target acquiring and identifying and capturing system based on a PTZ vision system and a laser sensor system is established; and a path planning methodbased on a three-dimensional C space enhanced type probability map improved A* algorithm is provided.

Description

technical field [0001] The invention relates to an autonomous humanoid dual-arm robot and an operating system for tracking a moving target, belonging to the technical field of robots. Background technique [0002] The humanoid dual-arm mobile service robot is an integration of various high technologies that provide necessary services for humans in an unstructured environment. The humanoid dual-arm robot is not a simple combination of two single-arm robots, but it is used as an independent robot system, and there is a high degree of synergy between the humanoid arms. The humanized service robot has a high-redundancy dual-arm system like the human arm, and the coordinated operation of the dual-arm is an effective way to improve the operating capability, load capacity, reliability and expand the operating space of the robot system. my country's "National Medium and Long-Term Science and Technology Development Plan (2006-2020)" regards various high-tech integrated intelligent s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J5/00B25J9/16B25J13/08G05D1/02
CPCB25J5/007B25J9/0087B25J9/1605B25J13/08G05D1/0231
Inventor 王红星黄志开邓少波刘国满廖高华马永力
Owner NANCHANG INST OF TECH
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