Gait optimization method of ball searching of NAO robot in RoboCup competition

An optimization method and robot technology, applied in the field of robotics, can solve the problems of poor stability, slow ball-seeking speed, and easy falling down of NAO robots, and achieve the effects of good stability, not easy to trip, and fast and stable ball-seeking.

Active Publication Date: 2019-05-31
WUHAN UNIV OF TECH
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a faster and more stable ball-seeking optimization method for th

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  • Gait optimization method of ball searching of NAO robot in RoboCup competition
  • Gait optimization method of ball searching of NAO robot in RoboCup competition
  • Gait optimization method of ball searching of NAO robot in RoboCup competition

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Embodiment Construction

[0029] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0030] The ball-seeking gait optimization method of the NAO robot of the present invention comprises the following steps:

[0031] The camera on the head of the NAO robot looks for and confirms that the football is recognized and locked, and calculates the azimuth angle difference between the football and the NAO robot; the azimuth angle difference is the angle between the football and the NAO robot's frontal direction.

[0032] If the angle difference θ is less than 75°, use the NAOqi system's natively given leg shaking up and down to rotate;

[0033] If the angle difference θ is greater than 75°...

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Abstract

The invention discloses a gait optimization method of ball searching of an NAO robot. The method comprises the steps of: searching, confirming and identifying a football by an NAO robot head camera for locking, and calculating an azimuth angle difference between the football and the NAO robot; if the angle difference is smaller than 75 DEG C, employing a mode of shaking legs originally given by anNAOqi system up and down for rotation; if the angle difference is larger than 75 DEG C and smaller than 105 DEG C, employing a library file with a steering angle of 90 DEG C, and performing small-amplitude angle regulation in the process of the robot going ahead and approaching the football; if the angle difference is in a range of 105-135 DEG C, employing a library file with a steering angle of120 DEG C for sliding steering; and if the angle difference is in a range of 135-180 DEG C, employing a library file with a steering angle of 150 DEG C for sliding steering. The turn-back process of the robot is changed to direct adoption of flexible rotation between joints of legs to allow the legs and the soles to directly generate sliding on the ground so as to maintain good stability.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for optimizing the ball-seeking gait of a NAO robot on the RoboCup (Robot World Cup (Robot World Cup)). Background technique [0002] With the rapid development of intelligent technology, NAO robots are highly integrated with the research results in the fields of automation, machinery, and artificial intelligence, and are widely used in RoboCup competitions. In the prior art, the NAO robot seeks the ball and turns around by relying on the small up and down shaking of the legs, so that only one leg touches the ground each time, while the other leg achieves a subtle rotation through the leg joints in mid-air, so left and right The legs cooperate to achieve the effect of turning around. After falling down, the NAO robot will get up and stand up according to the original given method of its original NAOqi system, and then use the camera part of the head to capture the position of the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 万勇杨文迪晏阳天彭博文
Owner WUHAN UNIV OF TECH
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