Research And Development Of The Display System Of NAO Robot Based On Posture Perception

As one of the greatest inventions in human beings in the20th century, robots represent the most advanced intelligent control technology in the current society.As the most complex system structure, the highest integration and human most similar kind of robot, humanoid robot represents the most advanced robot technology development direction. The research of humanoid robotics can help to promote the development of robot technology.In recent years, the posture perception as a new man-machine interactive, have been more and more applied in our daily life. Combination of posture perception and robotics technology has become a hot research. Therefore, the robot display system based on posture perception has a great practical significance and application value.The paper combine posture perception and robotics technology, have researched and designed the robot display system based on the body information.First of all, the paper get the information of posture character entered into the target area by Kinect which is a body-aware devices developed by Microsoft.In order to improve the real-time of algorithm and avoid the multi-solution, no solution situation when calculated the robot joint variables which based on the collected information, the paper simplified the method for solving robot inverse operation and achieved robot NAO’s imitation of human action. And then in order to get a more accurate information of NAO robot pose, the paper also use the Kalman filter to integrate the data measured by gyroscope and sensor in order to compensate for the drift of gyroscope during the measurement and the defect of accelerometer in the dynamic measurement. Then the paper have got more accurate NAO’s posture information, and applied this posture information to the closed-loop control of the NAO’s pose.Based on the In-depth analysis of several humanoid robot stability criterions and control strategies, the paper use ZMP theory to control the stability of the robot. Experiments show that the robot is able to maintain stability in the process of lower limb movement, and as a more stable posture.Finally, the paper combine body-aware devices and the NAO robot, and apply to this study, have designed and realized the NAO robot display system based on the Kinect, NAO robot intelligent interactive display system, NAO robot climbing stairs and NAO robot dance show.