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

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...

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

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