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Humanoid robot quick walking tracking obstacle avoidance implement method

A realization method and robot technology, applied in the field of robots, can solve problems such as low control precision and unstable walking

Inactive Publication Date: 2019-07-19
ZHONGBEI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] At present, the same type of small humanoid walking robots are generally...

Method used

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  • Humanoid robot quick walking tracking obstacle avoidance implement method
  • Humanoid robot quick walking tracking obstacle avoidance implement method
  • Humanoid robot quick walking tracking obstacle avoidance implement method

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Embodiment Construction

[0035] A method for implementing fast walking and obstacle avoidance of a humanoid robot disclosed by the present invention, see Figure 1-13 , the method involves a humanoid fast walking tracking obstacle avoidance robot, the robot includes two mechanical legs 2 and an upper body 1 equipped with an Openmv machine vision module and a power module, and the two mechanical legs 2 are symmetrically distributed under the upper body 1 .

[0036] Such as Figure 7 As shown, the exterior of the upper body 1 is mainly composed of the upper body top plate 11, the upper body top plate 12, the upper body front plate 13 and two upper body side plates 14, which form the interior of the upper body 1 with a chamber. The power module is placed inside the upper body 1. The power module Including the battery and the adhesive tape, which are placed in the top to bottom three-fifths of the upper body 1 and fixed by the adhesive tape to stabilize the center of gravity while reducing the weight of ...

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Abstract

The invention discloses a humanoid robot quick walking tracking obstacle avoidance implement method which relates to a humanoid robot quick walking tracking obstacle avoidance robot. The robot includes an Arduino main control chip, wherein the Arduino main control chip is connected with a two-axial steering engine to drive mechanical legs to move, and three actions of straight going, left turningand right turning are set. According to the humanoid robot quick walking tracking obstacle avoidance implement method, a camera is used for sampling, firstly a lab color space is mapped, an identification threshold value is set, then pigment blocks are calculated, the biggest block is selected to be a target area, coordination values are passed back, the angle of the steering engine are calculatedthrough the coordination values and compared with a preset angle to judge whether the angle is in a preset tracking angle or not, and if so, straight going is conducted; and if not, whether the angleis less than the preset angle or not is judged, if so, left turning is conducted, if not, right turning is conducted, finally the robot is returned to the camera to sample until the angle is in the preset angle, and circulation is conducted until the whole journey is completed in a walking mode. According to the humanoid robot quick walking tracking obstacle avoidance implement method, quick walking can be achieved, the function of obstacle avoidance is provided, and the robot is suitable for the quick stable walking environment.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for realizing fast walking and obstacle avoidance of a humanoid robot. Background technique [0002] High simulation and human imitation are one of the main directions of robot development. The biped robot is a humanoid robot. It is difficult to realize the control of biped walking, but it has a strong advantage in practicality. Therefore, the humanoid walking robot is undoubtedly a research hotspot nowadays. A biped robot that can walk quickly uses actuators instead of muscles, which can support the body and coordinate continuous movement. It has very low requirements on the environment, can adapt to various grounds, and has a high ability to overcome obstacles, so it has broad application prospects. [0003] On a global scale, the United States and Japan have been at the forefront of robot research and development. By using a variety of sensing technologies and control algori...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D2201/0217
Inventor 陆春月刘涛文晓琳高鑫淼
Owner ZHONGBEI UNIV
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