Research And Design Of Micro-Combat Humanoid Robot

The subject of the research is the micro-combat humanoid robot, and the paper mainly refers to the design of the mechanical system, motion control system, robot vision system and communication system. As for the mechanical structure problem, the specific configuration and DOF design, gait planning and experimental movement generation are talked into detail respectively. The gait planning, which is one of the most important issue of mechanical problems, is fulfilled under the inspiration of inverted pendulum model. In the controlling system design, which is the core part of the system, the high-quality PCB depiction and rudder controlling system including the host and lower system are introduced. The algorithms and processing steps are described in the stage of machine vision system, and the medfilter and binarization makes up the preprocessing part, followed by the average and self-adaptive background difference to realize the recognition of the other subject. When we identify the tagert state, we can use SVM. What’s more, in the algorithms design of the system, the regional feature-based tracking algorithm is realized to judge the current distance and predict the following condition. Finally, the “Raspberry Pi” is adopted to obtain the global system, which not only realize the command transmit-receive operation, but also obtain the real time condition of the system used for later command generation.The whole system involves mechanical and algorithms design is tested and improved by the experiment of two practical micro-combat humanoid robots combating, which demonstrates the efficiency of the configured system.