The Research Of Motion Planning And Method Of Humanoid Soccer Robot

In recent years, with the international robotic soccer such as RoboCup and FIRAsuccessively providing the platform for humanoid soccer robot, the international exchange ofhumanoid soccer robot technology has been promoted hugely. However, humanoid soccerrobot technology in military, industry , entertainment industry,scientificexploration ,rehabilitation medicine,service industry,far still did not reach expectations. In thepresent study, we mainly focused on the discussion and research of motion planning ofhumanoid soccer robot.In analysis of humanoid soccer robot is based on the structure, application ofhomogeneous coordinates representation method to establish the kinematic model of therobot .Based on the lagrange equation of the single leg supporting phase dynamic model.In the movement unit on humanoid soccer robot was studied .The first analysis based onZMP stability criterion. Then in view of the characteristics of humanoid soccer robot , whichgives it motion planning strategy.The process of robot exercise was classified to some actionsbased on the motion planning strategy. In addition, the typical gaits were planned and themain problems of the action planning of other basic gait units were analyzed as well.Furthermore, a fall protection strategy was provided according to the falling process ofhumanoid soccer robot.Based on the humanoid soccer robot path planning method was studied .Humanoidsoccer robot efficiency would be influenced due to the machine restriction. One method ofpath planning for soccer robots is proposed in this paper integrating the characteristics ofgenetic algorithm and quantum computation.The humanoid soccer robot path planning andsimulation result. Simulation result demonstrates the effectiveness of the path planningmethod based on QGA.