基于双计算机的仿人机器人的视觉跟踪系统  

A Visual Tracking System of a Humanoid Robot Based on two Computers

作　　者：庞云亭[1] 黄强[1] 

机构地区：[1]北京理工大学机电工程学院,北京博士研究生100081

出　　处：《微计算机信息》2007年第26期241-243,共3页Control & Automation

基　　金：国家863计划资助项目(2003AA420010)

摘　　要：运动目标的实时跟踪是机器人视觉的关键技术之一。设计了仿人机器人的视觉跟踪系统,系统采用双计算机,分别负责视觉信息的处理和运动单元的控制,两台计算机通过Memolink进行通讯。基于Windows的视觉信息处理子系统实现运动目标的分割,状态估计和预测。运动控制子系统采用RTlinux实时操作系统,利用PD控制器控制关节运动。实验验证了系统的稳定性和实时性。The tracking of a moving object is one of the most important technologies in robot vision domain. The visual tracking system of a humanoid robot is designed. Two computers are embedded in the robot in order to ensure real time tracking of a moving object. Computers are linked with each other through Memolink communication module. One computer is responsible for segmenting the moving object from the video rapidly, estimating and predicting the states of the object. The other is used for the motion control of the robot. The information processing sub-system uses Windows as OS. Motion control sub-system adopts RTLinux as the platform and the conventional PD controller is used to control joints motion. Experiments show the effectiveness and robustness of the system.

关 键 词：仿人机器人 视觉跟踪 RTLINUX 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]