基于Jetson Nano的智能双足人形机器人  

Intelligent biped humanoid robot based on Jetson Nano

作　　者：王苑丞 文靖豪 张祺睿 冯旭冉 彭熙[1,2,3] WANG Yuancheng;WEN Jinghao;ZHANG Qirui;FENG Xuran;PENG Xi(School of Computer Science,Central China Normal University,Wuhan 430079,China;Hubei Provincial Key Laboratory of Artificial Intelligence and Smart Learning,Wuhan 430079,China;Higher Education Institutions of Hubei Province Experimental Teaching Model Center of Basic Computer Science,Wuhan 430079,China)

机构地区：[1]华中师范大学计算机学院,武汉430079 [2]湖北省人工智能与智慧学习重点实验室,武汉430079 [3]湖北省高等学校计算机基础实验教学示范中心,武汉430079

出　　处：《智能计算机与应用》2024年第4期177-179,共3页Intelligent Computer and Applications

基　　金：华中师范大学中央高校基本科研业务费专项资金科研项目(CCNU20ZN005);湖北高校省级教学研究项目(2020135);华中师范大学大学生创新创业训练计划项目(202210511022)。

摘　　要：针对人型机器人多样的使用需求及复杂的使用环境,本文设计出一款以高性能NVIDIA Jetson Nano为主控板,采用舵机驱动、搭载多个感知模块的智能双足人型机器人,通过ROS系统进行步态控制,依靠摄像头、多种传感器及配套算法实现姿态识别和空间位置计算,完成机器人整体的行动。Aiming at the diverse needs and complex environment of humanoid robots,this paper designs an intelligent bipedal humanoid robot with a high-performance NVIDIA Jetson Nano as the main control board,driven by a servo,and equipped with multiple sensing modules.Through the ROS system for gait control,relying on the camera,a variety of sensors and supporting algorithms to achieve gesture recognition and spatial position calculation and other functions,to complete the overall action of the robot.

关 键 词：双足人型机器人 Jetson Nano 传感器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]