The Complex Motion Planning Of Humanoid Soccer Robot

In recent years, a lot of people begin to research humanoid robot extensively because it has more advantages than wheeled robot. This year Federation of International Robot-soccer Association also carried out the 3vs3 soccer competition of humanoid robot firstly. It injected a new impetus for the development of humanoid robot. This paper introduces the domestic and overseas research results and progress of humanoid robot and analyses the structure of ROBONOVA-1 humanoid soccer robot with 16 DOF. We introduce the roboBASIC development environment and robo-Basic programming language detailed which are used by ROBONOVA-1 robot .This paper focus on the motion planning of the ROBONOVA-1 soccer robot; we study the action of forward, backward, shift and turn based on the control of the center of gravity; because it is based on the control of COG, and therefore we can accomplish the design of the action by splitting the action into several sub action, we also realize the transition action from the control of the COG to the control of ZMP—fast motion. We can achieve the fast motion by making the size of the pace smaller and speeding up the frequency of the pace. We analyze the feasibility of the robot standing up automatic after it tips over. The robot either have waist joint or have longer arm can achieve rising up automatically; As the probability that the robot fell to the side is very little, although the robot falls down to the side, it will turn over backward or forward; and therefore we achieve the rising up automatic faced up or faced down only. The significance of the result is that we realize that the robot can from walking to tipping over, rising up and then walking, and therefore we avoid the blind pursuit of the robot stable movement .