Human type robot kicking action information processing method based on rapid search tree
An information processing method and robot technology, applied in the field of information processing of humanoid robot kicking movements, can solve problems such as interference, inability to complete kicking movements, tedious and boring human labor, etc., and achieve the effect of improving robustness
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[0034] Such as figure 1 , figure 2 As shown, a method for processing information of a humanoid robot's kicking action based on a fast search tree includes the following steps:
[0035] 1) The robot obtains the current state of the robot through the forward motion model according to the information collected by the joint position sensor 1, the acceleration sensor 2 and the gyroscope 3 in an uncertain environment;
[0036] 2) The processor 4 of the robot calculates the motion trajectory of each joint of the robot required by the fast random search tree according to the current state and the termination state of kicking the ball;
[0037] 3) The motion smoothing filter is used to smooth the joint motion trajectory generated in step 2), and the dynamic filter is corrected to obtain a stable final kicking motion trajectory, and the trajectory is sent to the robot actuator.
[0038] The calculation of robot pose is one of the foundations of action planning, which mainly includes ...
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