Research And Implementation Of Robocup Humanoid Robot System

As the first electronic computer ENIAC was born at the University of Pennsylvania, humans have entered the information age; Meanwhile, robot technology have begun to nurture, it represents the highest level of the information age. Robot technology including a number of disciplines, including materials science, mechanical structures, micro-electronics technology, software engineering, sensor technology, it has attracted world's attention. In this area, Japan, Germany and other industrial powers to go in the forefront of the world, Whether real robot manufactured or basic sciences have made significant progress; In China, with the late start, combined with the level of industrialization cannot compete with Japan, Germany and other industrial powers, made progress more slowly. To promote the development of robot-related technology and academic exchanges, International Association for Artificial Intelligence founded the Robocup (The World Robot Cup), after ten years of development, now has become with the ACM/ICPC alongside one of the world's two races.This article makes Robocup humanoid competitions as a platform, the machine vision system and motion control system are discussed and verified in physical humanoid robot Fantasia.The machine vision system analyzes agent vision system and vision debug system's theory and application implementation. Discuss color space, image segmentation and other basic issues, Improvements proposed clustering algorithm based on RLE; implement application with Visual Studio 2008 under PC/104 platform, Consists image acquisition, image segmentation, object recognition, feature color extraction and storage and other functions.The motion control system kinematic model analyzes the mathematical basis and stability criterion of the problem, proposed stable gait plan based on key frame similarity algorithm. To speed up the debugging gait speed, off-line gait debugging software was developed, and discussed the storage structure of gait.At the last, analyzes the design principles and related modules of the agent application; include network communication, RS232 communication, finite state machine module and the find ball and attack strategy.In Robocup 2009 China Open, the verification shows that, the clustering algorithm based on RLE and stable gait plan based on key frame similarity algorithm running efficient, stable, and in the race has made outstanding achievements.