Study On The Related Interaction Technology For The Football Competition Between Human And Medium-size League Soccer Robot

By the middle of the 21 st century to carry out the soccer competition between human and robot, and the robot team in compliance with the rules of the game is able to overcome the premise of human football champion team, it is one of the most anticipated event in the field of robotics. The Robo Cup medium-size league soccer robot is that one of the most intense and intelligent robots in the robot competition, it is also the most likely to achieve this desire as soon as possible. Under this background, the key factors of the composition for the football competition between human and robot are analyzed in this paper, that is the robot system, human, football and information interaction, and study about its associated interaction techniques, mainly to complete the work of the following aspects:Firstly, based on the analysis of the key factors about human football match, robot soccer match and the competition between human and robot, the Human-robot interaction framework system is presented.Secondly, gesture command recognition for the football competition between human and robot. Based on the analysis of the depth information of Kinect and the human skeleton model, a gesture command recognition method based on human body model is proposed. Gesture recognition rules are set by the geometric relations of the skeletal points in the space, human gestures and robot interaction is realized. The experimental results show that the method has good effect, it can be used for the competition between human and robot.Thirdly, gait recognition for the football competition between human and robot. The method for establishing a human skeleton model, and the characteristics of effective gait information are selected from it. Combined with the data of the human skeletal point measured by Kinect, the recognition rules for gait and passing motion are set, so that the robot can identify human walking gait, but also reproduce the human passing action.Fourthly, design of speech interaction system for the football competition between human and robot. Development of speech recognition and speech synthesis using Microsoft speech SDK, according to the set of speech commands, the robot can listen to voice commands and responses is realized, and the recognition effect of the speech recognition is also satisfied.Fifthly, the need for the football information in the football competition between human and robot is analyzed, a color classification method based on color lookup table is proposed. According to the center of the football and kinect depth image, the robot can acquire the football and its depth information in the field of vision in real time is realized.Lastly, according to the human-robot interaction framework for the football competition between human and robot, A human-robot interaction system is established by using two Kinects and robot system, based on the research of the related technology of the competition between human and robot, the robot obtain the capable of identifying and tracking people and football, the human robot interaction is performed by speech commands, gesture commands, and gait behavior, search football, passing, defend in X direction, chasing football and other interaction experiments are completed. The results show that the system can be carried out human-robot confrontation to a certain extent, to provide technical reserves for the practical application to the competition between human and robot.