Research On Low Cost Humanoid Soccer Robot

Humanoid robot is the top class of robots. Being the centralized embodiment ofintelligent robot theory and technology, it can drive the intersect development andadvancement of many related subjects and technologies.Began since early 90's of last century, the research of two-leggedanthropomorphic robot has come into a new stage. The RoboCup(Federation ofInternational Robot soccer Association) and FIRA (The Robot World Cup)haveorganized the game of humanoid soccer robot. The study of two-legged robot in ourcountry is late, and the research of humanoid soccer robot is little. So the developmentof humanoid soccer robot has quite important value and meaning.The emphasis of the article is the kinematics analysis of two-legged robot. It isthe theory basis of developing humanoid soccer robot. The article emphasis on thestudy as follows:1,The robot sample and theory all over the world and the meaning of studyinghumanoid robot are analyzed, the direction of study is confirmed.2,The object of the humanoid soccer robot is orientated, the needed joint,DOF(degree of freedom) are ensured, and the structure is analysed.3,The movement state of humanoid robot is analysed, the kinematic and dynamicmodel are brought forward.4,The method after putting forward the gait based on each inserting value threetimes is planed, combine the planning against kinematics of the robot, the angle ofeach joint -time function have been derived.5,The concept of dynamic walking is introduce, and the several dynamic walkingcontrol methods in common use is analysed, on the basis of the humanoid soccerrobot , a simple and right method of walking control is putted forward.