【作者】 金晓飞；

【导师】 马宏绪；

【作者基本信息】 国防科学技术大学 ， 控制科学与工程， 2009， 硕士

【摘要】 近年来,随着RoboCup和FIRA等国际机器人足球比赛相继引入仿人足球机器人的竞技单元,极大地促进了仿人足球机器人技术的发展和国际交流。但是就目前发展水平来看,仿人足球机器人技术还远未达到人类的期望。本文主要对仿人足球机器人运动规划方法进行了研究。首先在分析了仿人足球机器人本体结构后,设计了仿人足球机器人控制系统。应用齐次坐标表示法建立了机器人的运动学模型。基于Lagrange方程建立了单脚支撑期的动力学模型。其次,对仿人足球机器人动作单元规划进行研究。以给出的运动规划策略为基础,对机器人运动过程中的主要动作进行了分类和定义。对几种典型的基本步态进行了规划,同时分析了其他基本动作单元步态规划的主要问题。针对仿人足球机器人典型的摔倒过程,给出了仿人足球机器人自我保护的摔倒策略。最后,对仿人足球机器人路径规划方法进行了研究。考虑到在给定路径上,仿人足球机器人机构约束对机器人运动效率的影响,提出路径曲折度的概念,并将其作为路径规划寻优过程的目标函数。采用蚁群智能算法解决路径寻优问题。提出了基于交叉操作的周游最优蚂蚁的改进蚁群算法,实验验证,改进算法提高了收敛速度和搜索效率。更多还原

【Abstract】 In recent years, with the international robotic soccer such as RoboCup and FIRA successively providing the platform for humanoid soccer robot, the international exchange of humanoid soccer robot technology has been promoted hugely. However, the current development is still far from reaching the our expectation. In the present study, we mainly focused on the research of motion planning of humanoid soccer robot.Firstly, the control system was designed after analyzing the structure and main frame parameters of humanoid soccer robot. Moreover, the kinematics model was built by homogeneous coordinates while kinetics model of single-supporting was built by Lagrange function.Secondly, the movement unit on humanoid soccer robot was studied. The process of robot exercise was classified to some actions based on the motion planning strategy. In addition, the typical gaits were planned and the main problems of the action planning of other basic gait units were analyzed as well. Furthermore, a fall protection strategy was provided according to the falling process of humanoid soccer robot.Finally, the humanoid soccer robot path planning method was studied. Humanoid soccer robot efficiency would be influenced due to the machine restriction. This paper put forward the concept of path crooked degrees which was used as the objective function in the path planning. The ant colony algorithm was adopted to solve the intelligent optimization path problems. In addition, an improved ant colony algorithm (the optimal travelled ants based on crossover operation) which improved the algorithm convergence speed and search efficiency was proposed.更多还原