An autonomous humanoid dual-arm robot and its operating system for tracking moving targets

Abstract

The invention discloses an autonomous humanoid double-arm robot, which includes a head, a two-wheel differential drive mobile platform, a seven-degree-of-freedom humanoid double arm, a moving target simulation platform, and a PTZ camera system; the two-wheel differential drive mobile platform There are odometer, two-dimensional laser radar system, ultrasonic obstacle avoidance sensor system, binocular vision measurement system and PTZ camera system. Advantages of the present invention: a high-redundancy human-like double-arm mobile service robot system based on the ROS operating system is formed by using a two-wheel differential drive mobile platform and a high-redundancy humanoid double-arm robot system; an advanced integrity-based The speed decomposition control algorithm is used for the overall motion planning method of the high-redundancy humanoid dual-arm mobile service robot; the target acquisition identification and grasping system based on the multi-modal information fusion of the PTZ vision system and the laser sensor system is established; a system based on Enhanced Probabilistic Maps for 3D C-Space Path Planning Method for Improved A* Algorithm.

Description

technical field [0001] The invention relates to an autonomous humanoid double-arm robot and a tracking operating system for a moving target, belonging to the technical field of robotics. Background technique [0002] A humanoid dual-arm mobile service robot is an integration of various high-tech 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 as an independent robot system, and there is a high degree of synergy between the humanoid arms. The humanized service robot has a highly redundant dual-arm system like the human arm, and the coordinated operation of the dual-arm is an effective way to improve the operation capability, load capacity, reliability and expansion of the operation space of the robot system. my country's "National Medium- and Long-Term Science and Technology Development Plan Outline (2006-2020)" will use a variety of high-tech integra...

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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