带目标识别系统的双足机器人研究  

The Biped Robot with the System of Object Identification

作　　者：祝敏航[1] 李晓明[2] 范泽冰[1] 马超[1] 王金龙[1] 蔡迪[1] 

机构地区：[1]浙江理工大学启新学院,浙江杭州310018 [2]浙江理工大学机械电子工程研究所,浙江杭州310018

出　　处：《装备制造技术》2012年第4期8-11,共4页Equipment Manufacturing Technology

基　　金：浙江省科技厅新苗计划资助项目(2011R406010)

摘　　要：针对带有目标识别系统的双足机器人的开发,采用S3C2400A微处理器作为控制器,基于嵌入式linux系统,完成了机器人目标识别模块和双足行走模块;在目标识别程序开发中,采用了梯度Hough变换,使得对目标识别的效率大大提高;在双足行走程序的开发中,采用32路舵机控制器,实现了对单个舵机控制或多个舵机同时控制,达到了双足行走协调统一的要求;通过串口通信的方式,将目标识别与舵机控制相结合,使得机器人能根据目标的位置,判断行走方向,并最终到达目标处。在开发样机上进行的实验研究,取得了较好的效果,证明了系统方案的可行性。For the development of a biped robot with the system of object identification.The robot is based on the MPU S3C2400A of SAMSUNG and embedded linux operation system to implement the modules including object identification and robot walking.In the module of object identification,the efficiency of identification is improved obviously with Grads Hough Transformation.In the module of robot walking,to achieve the goal to harmonize walking of biped robot,the steering engine actuator drivers were chosen deliberately,which can drive 32 engines simultaneously and smoothly.With serial communication,the two modules are combined to enable the biped robot to find the location of the object and to walk to the object.The system has been tested on the prototype we had assembled and achieved a satisfying results,which verified the feasibility of the system.

关 键 词：双足机器人 S3C2440 嵌入式LINUX 梯度Hough变换 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]