Applied Research On Humanoid Home Mobile Service Robot

Robotic technology which is fused with computer, cybernetics, electronics, bionics, artificial intelligence and information sensing technology is a high-tech. At present, the research of robot is very active and the application field is wide, so it has become the important symbol of a national industrial development level. Intelligent service robot with open and visual control system which is used for family applications is a tendency of the development of the robot, because it has better universality and adaptability of the environment.This paper researches the related technologies of home service robot, and designs a simple system, which uses low-cost devices. It can walk in indoor, perceive environment by its sensors and complete the functions of tracking and holding target objects, entertainment and so on. The body of robot is aluminum alloy stent and has the basic structure like people, including head, arms, legs, feet and waist. Head is a camera which is used as robot vision and used to locate and track targeted objects. Microcontroller deal with the digital image such as median filtering, binary and image feature point extraction, then center point of the target object is obtained. Arms are connected by connecting rod and steering gear, and there are five degrees of freedom. Meanwhile a camera is also installed on the arm, and they form the mechanical arm's hand-eye structure, camera puts the actual position of end actuator feedback to controller and realizes closed-loop control of mechanical arm. In order to make the arm grab object accurately, kinematics analysis for mechanical arm are made and kinematics model of mechanical arm are established by using D-H method, then we obtain the positive and inverse solutions of the equation, finally the working space of mechanical arm is simulated by MATLAB and the correctness of the equation is verified. Legs are two open-balcony intelligent cars, they are controlled by two single-chip microcomputer, in order to realize information exchange, they communicate with each other by wireless module and make the robot walk steadily. At the same time, the two controllers also collect more information of different sensors separately to control different actuators finishing the corresponding action. Software adopts modular programming and it improves the efficiency of the program execution.Finally, it is overall debugged in robot hardware platform to achieve the scheduled function, and ideal effect is achieved, but the control accuracy and stability could be further perfected.