基于立体视觉与姿态识别的天轨机器人跟踪伺服控制  

Stereo vision and pose recognition-based tracking servo control for celestial orbital robot

作　　者：赵希禹 杨芳艳 李家龙 Zhao Xiyu;Yang Fangyan;Li Jialong(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《电子测量技术》2024年第4期73-80,共8页Electronic Measurement Technology

摘　　要：针对双足机器人步态训练平台自动化程度低,调试步态的过程中单人操作时辅助机器人行走和状态信息实时观测协调困难的问题,该文提出了一套基于立体视觉和姿态识别的天轨机器人跟踪伺服系统。首先利用双目相机取景,对左右目相机画面进行匹配后获取图像中每个像素点的深度信息,基于获取到的带有深度信息的图像,对双足机器人的姿态进行识别,获取每个关节点的深度信息,根据关节深度信息判断双足机器人运动状态制定跟踪策略进行伺服控制,由于引入了姿态识别,可以根据双足机器人的姿态变化实现更高程度的自动化跟踪保护。实验结果表现出高自动化程度和高动态的跟踪表现。To address the issues of low automation in the gait training platform for bipedal robots and the difficulty in coordinating real-time observation of robot walking and status information during gait debugging by a single operator,this paper proposes a stereo vision and pose recognition-based tracking servo system for celestial orbital robots.Firstly,using a stereo camera setup,the left and right camera images are matched to obtain depth information for each pixel.Based on the depth information obtained from the images,the pose of the bipedal robot is recognized,and the depth information of each joint is extracted.The motion state of the bipedal robot is determined based on the joint depth information,and a tracking strategy is formulated for servo control.By introducing pose recognition,a higher level of automation and tracking protection can be achieved based on the changes in the bipedal robot′s pose.Experimental results demonstrate a high level of automation and dynamic tracking performance.

关 键 词：立体视觉 姿态识别 跟踪伺服控制 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]