Research Of The Simulation Technology Of Humanoid Robot And Its Application In Design Of Competition Actions

Humanoid Robot shows many developments of foundational theory and its applied technology in modern intelligent robot researching. The rapid developing technology, which based on humanoid robot, is promoting a lot of field of related subjects obviously. As a convenient tool, the robot simulation system is safe, visual and intuitionistic, as a key to researching obviously.The thesis, on the base of comprehensive analysis in humanoid robot and simulation technology, according to the objective need of improvement in current robot soccer simulation platform, take humanoid robot technology as the basis of theory, the modern simulation technology as the fundamental tool, the typical single humanoid robot simulation platform and robot soccer simulation platform as backbone, facing the design of various competition actions in humanoid robot, have carried out the following technical research and systemic develop works.First, the humanoid robot is modeled and simulated. An advanced physical engine is used in simulation method and technology realization in the structure, driver and sensors of humanoid robot.Then, a single humanoid robot simulation platform is developed, including the debugging online program which can not only adjust the gesture of robot but also can load and save the data of gesture, the interface of motion control system which give the technical guarantee to through the program on joints to realize the robot motion planning and designing, a system of 3D real-time vision simulation effect.Furthermore, a simulation platform of humanoid robot soccer is designed, including simulation server, auto referee module, real-time player, client, competition strategy with friendly user interface. The thesis has implemented the framework of independence between client and strategy.Finally, three kinds of current popular international competition events: robot dash, penalty kick and dance, are all used as a benchmark in the applied research. Some achievements is brought out, which is a dynamic walking control method of humanoid robot, the design of shooting action of humanoid soccer robot based on fuzzy control, and three effective design methods for dancing motion of humanoid robot, namely the intuitionistic estimate method, the movement demonstrate method and virtual simulation method. All the developed systems have got excellent results in many domestic and international competitions.