仿人机器人控制系统设计控制科学与工程专业论文.docxVIP

Abstract The technology of humanoid is an important branch of robotic research, it rep- resents the forefront technology of robotics research and it is also one of the most promising topics in the current technology. The design of humanoid robot’s con- troller, which influences the performance of humanoid robot directly, is one of the most important components in humanoid robot. Firstly, the thesis designs a total structure of the humanoid robot’s controller system with method of modularization which divides the control system into high level and low level controller, therefore, the robust of the system is improved. By analyzing the method of controlling the rudder, velocity smooth control of the rudder is realized; it also introduces CMUcam2, which is a computer vision system. In use of the method of tracking objects based on the objects’ color and the angles of camera’s pose of CMUcam2 system, the distance between the objects and the humanoid robot can be calculated. Hence the spatial position of objects can be obtained relative to humanoid robot. Secondly, the thesis introduces the hardware and software design for the hu- manoid robot. It analyzes the noise suppression mechanism. It also utilizes the boot loader feature of the Atmega128 to realize the mass data storage issue in the MCU. Due to large number of humanoid robot’s freedoms and the lack of hardware PWM controller in the MCU, the software PWM method which is introduced in this thesis reduces the complicity of hardware and improves the performance. The thesis also de- signs the walking strategy according to the position of the ball and make the humanoid robot walk stably to right position and kick the ball. Finally, this thesis presents the dynamic walk gaits planned base on the spatial track planning method. Furthermore, the maximal robust margin according to the ZMP criteria can be obtained utilizing genetic algorithm. The simulation result shows that this method improves the humanoid robot’s walking