基于模糊控制的NAO机器人目标跟踪与抓取  

The Target Object Tracking and Grasping of NAO Robot Based on fuzzy control

作　　者：黄昌琴[1] 

机构地区：[1]仰恩大学

出　　处：《学术问题研究》2014年第2期91-96,共6页Academic Research(Integrated Edition)

摘　　要：研究了基于视觉的机器人目标跟踪和抓取,建立了一个由两个单目视觉单元组成的双目视觉伺服系统,使用颜色模板进行目标识别,并采用模糊控制方法控制NAO机器人的手运动,最终实现机器人自主地对目标物体的跟踪和抓取。试验表明,此视觉伺服系统具有良好的识别能力,模糊控制方法能够使机器人平稳运动,跟踪和抓取静止的和运动的目标物体的成功率可以达到95%以上。This article present a study of target object tracking and grasping of robot based on vision is developed.By creating a binocular visual servoing system which is composed of two monocular visual units,by using Color template to realize target identification and by employing the Fuzzy control to control one hand of the NAO robot,we can make the robot track and grasp target objects autonomously.Experiments show that the designed visual servoing system has a good recognition capability,and the fuzzy control could make the robot move steadily.The success rate of tracking and capturing static and moving objects can achieve above 95%.

关 键 词：目标跟踪 视觉伺服 目标识别 模糊控制 NAO机器人 

分 类 号：D929[政治法律—法学]