小型仿人足球机器人控制系统  

Control System of Small Humanoid Soccer Robot

作　　者：金晓飞[1] 彭胜军[1] 张瑞永[1] 马宏绪[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《兵工自动化》2010年第2期77-80,共4页Ordnance Industry Automation

基　　金：863计划"多机器人系统技术"项目"竞技与娱乐多机器人系统"(2007AA041603)

摘　　要：针对当前小型仿人足球机器人在足球比赛中的复杂任务背景,设计了可实时在线路径规划的小型仿人足球机器人控制系统。基于Robotis公司的Dynamixel系列AX-12型舵机和标准连接件设计了具有20个自由度的仿人足球机器人本体结构;基于运算速度较高的DSP芯片TMS320F2812设计了主控制器;应用CMUcam3视觉传感子系统进行图像采集和处理,将获得的目标位置反馈给主控制器,完成基于视觉伺服控制的实时路径规划任务。目前,该仿人足球机器人可以在实验室环境中完成稳定直走、转弯和准确踢球等运动规划任务。下一步将重点研究最小损伤下的跌倒控制、爬起和不同动作单元的动态切换等复杂任务和多个仿人足球机器人的协调控制。A control system which could finish the motion planning in real time was designed in order that the small humanoid soccer robot finishes some complex tasks in humanoid robot soccer competitions. The present study designed a humanoid soccer robot with 20-DOF based on the company Robotis＇ Dynamixel series robot actuators. The main controller of the robot was designed based on high capability DSP chip TMS320F2812. The visual sensor subsystem CMUcam3 gathered and processed the image, and then sent the goal position to the main controller which finally finished path planning task. At present this humanoid soccer robot can stably walk in line, swerve and precisely kick the little ball in the environment of laboratory. In the future, we are focused on safely falling over, stand-up control, dynamic switch of different actions and multi-robot＇s harmonious control.

关 键 词：仿人足球机器人 DynamixelAX-12舵机 数字信号处理器 TMS320F2812 CMUcam3 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]