| Humanoid robots have human form and action characteristics,can complete the task in the human environment without changing the human environment,making the humanoid robot to become the best form of human services for human beings,and then by the widespread concern.The mobile operation of the humanoid robot means that the humanoid robot moves by the footsteps.The arm and the hand are used to complete the crawling operation.In order to complete the mobile operation,the robot is required to have target recognition,online path planning and motion control.Based on the NAO experimental platform of mini type humanoid robot,this thesis studies the control method of target recognition,positioning and mobile operation in the process of humanoid robot movementThis thesis describes the hardware,software design and implementation of the small humanoid robot mobile operating system,and has carried on the experimental verification.First,we introduces the hardware system and software system of minitype humanoid robots.Secondly,the kinematics analysis of minitype humanoid robot is carried out.The kinematics modeling and inverse kinematics of the minitype humanoid robot is studied.Thirdly,the target recognition and positioning based on monocular vision are studied.Using the object of different color characteristics,the color characteristics of the target is identified.The target is then positioned by camera model and parameter calibration.Finally,we carry out experiments on minitypehumanoid robots.In the experiment,the minitype humanoid robot completes the mobile manipulation task accurately and efficiently.Experiments show that the target recognition and localization method are efficient and reliable,and can realize the mobile manipulation of the robot completely.And we complete the research topic of minitype humanoid robot target recognition and mobile manipulation. |
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