一种用于仿人型机器人控制的脚本语言的设计与实现  

Design and Implementation of a Kind of Script Language for Controlling Humanoid Robot

作　　者：付伟[1] 王建华[1] 

机构地区：[1]哈尔滨师范大学计算机科学与信息工程学院,黑龙江哈尔滨150025

出　　处：《自动化技术与应用》2013年第8期23-26,30,共5页Techniques of Automation and Applications

摘　　要：本文以设计制作的比赛用仿人型双足机器人为基础,叙述了该机器人的整体结构。由于实际控制过程中汇编级指令编码繁杂、开发和调试效率低等诸多问题,设计并实现一种用于在该类型机器人上控制和调试机器人运动的脚本语言桼script脚本语言。并以双足机器人稳定性衡量的重要方法ZMP算法和理论依据,比较了实现ZMP的代码段。在没有降低代码执行效率的前提下,Rscript脚本语言能够胜任机器人的动作控制,并且提高了软件的开发和调试效率,并为今后机器人动作行为数据库的建立奠定了基础。In this paper, the overall structure of a humanoid biped robot is described produced for cmpetiton. Due to the instruction encoding of assembly level is multifarious in actual control process, a design and implement with Rscript is elaborated, it can avoid the many efficiency problems of developing and debugging. An important method of measuring the stability of the biped robot, ZMP algorithm and its theory is also used to compared the ZMP code segment. Under the premise of not reducing the code execution efficiency, Rscript is competent for robot movement control, it improves the development and debugging efficiency of software, and also builds a solid foundation of the future robot behavior database as well.

关 键 词：仿人型机器人 脚本语言 ZMP 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]