Research On Design Of Simulation Humanoid Robot And High Level Strategy

The subject of robot is an integrative and advanced subject which is developing rapidly. It involves lots of knowledge and technology, such as mechanical engineering, kinematics, mathematics, computer, and electronic engineering .etc, and is highly regarded by industry and academe. As human technology's greatest dream, the research on humanoid robot stands for the advanced level in robot field. This thesis, based on the platform of RoboCup simulation 3D competition, puts forward the design thought and method of Simulation Humanoid Robot, whose background is the design of HfutEngine3D team. This thesis proposes some solution considering these three aspects: basic modeling of multi-DOF humanoid robot, motion control, and intelligent decision-making. In this thesis, we make the following research:(1)After summarizing the characteristic feature and classic motion performance parameter of humanoid robot, we put forward an improved robot's modeling method which is model irrespective. This method is suitable for multi-DOF humanoid robot, and predigests the modeling expression and correlative compute in kinematics of multi-DOF humanoid robot.(2)A joint planning control method aiming at forecasting the speedup point and slowdown point is put forward, based on non-linear interpolation. In addition, it's optimized to be an arithmetic on velocity shift, which smoothes the change of joint velocity and avoids the low precision of joint turn and unstable inertia caused by high inertia of motor motion in the method when the joint's movement is not variable velocity.(3)Thesis puts forward a seizing multi-priority schedule arithmetic, which is model irrespective, to design the robot's decision module, considering the greatest difference between humanoid robot and those not humanoid robot is the movement's unpredictability.(4)Based on the above method and design, we do lots of experiments and make technical statistic and analysis on the background of standard RoboCup competition. Also, this thesis computes the COM point on the mathematical model, and tests the robot's stability when it walks. Meanwhile, we test the whole system's capability through combating with the current world's strong teams.