| Humanoid robot research represents the top level of robotics. It is a rapidly developing comprehensive frontier discipline, involving mathematics, computer science, machinery manufacturing, kinematics and other disciplines. Furthermore, it is one of the most ambitious dreams of technology. Humanoid robots have the basic characteristics of human figures, and can also imitate human actions and work independently. They are very suitable for providing services for humans in daily environment.Robot-soccer involves pattern recognition, robotics, Multi-agent system and other technological subjects. It has already become a very popular research topic of the artificial intelligence and robotics. Compared to 2D simulation game, the RoboCup3D simulation game expanded the soccer simulation game from two-dimensional to three-dimensional, which makes the game environment more realistic and also help to carry out simulation research of physical robots.This thesis used RoboCup3D simulation soccer game as a research platform, and the development of DreamWing3D, that is a simulation soccer team from Anhui University, as the research background. In order to solve problems in humanoid robot kinematics, specific work that was carried out in the research is stated as follows:(1) Due to the lack of related data of RoboCup3D simulation platform, the author understood RoboCup3D simulation system technology and the key operation mechanism through studying the game server, reading the server, analysing SPADES and ODE.(2) Throughout the research of the humanoid robot structure and kinematics system and the analysis of the mathematical foundation, this dissertation carried out the research of the NAO model in RoboCup3D simulation platform. Furthermore, by constructing the kinematics model of NAO, and studying the characteristics of NAO model's lower limb, the author was able to solve the problems of direct kinematics and inverse kinematics.(3) Apply the problem solving algorithm of NAO model kinematics that was studied in this research to test RoboCup3D simulation platform. After the inspection by the physical NAO debugging platform "Choregraphe", this kinematics algorithm has been proved correct and effective. Moreover, this laid a good foundation for the realization of the gait planning technology.Throughout all the work carried out in this research, the first RoboCup3D simulation soccer team in Anhui University was born, and it was able to finish matches and achieve good results. |
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