Optimization method of ball-seeking gait for nao robot in robocup competition

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

Active Publication Date: 2022-04-15
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 the existing NAO robot, which is easy to fall down, and the ball-seeking speed is slow and the stability is poor after falling down and standing up.

Method used

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  • Optimization method of ball-seeking gait for nao robot in robocup competition
  • Optimization method of ball-seeking gait for nao robot in robocup competition
  • Optimization method of ball-seeking gait for 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 ball-seeking gait optimization method of a NAO robot, comprising: the head camera of the NAO robot searches for and confirms that the football is recognized and locked, and calculates the azimuth angle difference between the football and the NAO robot; if the angle difference is less than 75°, Then use the NAOqi system natively given leg up and down shaking method to rotate; if the angle difference is greater than 75° and less than 105°, use the library file with a steering angle of 90°, and make small adjustments to the angle when the robot is moving forward and approaching the football ; If the angle difference is between 105° and 135°, use the library file that turns 120° for sliding steering; if the angle difference is between 135° and 180°, use the library file that turns 150° for sliding steering. The invention changes the turning process of the robot into direct use of the flexible rotation between the joints of the legs, so that the legs and the soles of the feet directly slide on the ground, maintaining 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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Patent Type & Authority Patents(China)
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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