Research Of NAO Robot Intelligent Grasping Technology Based On Visual Guidance

Humanoid robots have been gradually applied in real life along with the rapid development of robot.Therefore,it is not only obviously important to study the intelligent humanoid robot to help the elderly and the disabled to handle daily routines,but also meaningful for its great social values and realistic meanings.The current researches on robot intelligent grasping technology including humanoid robot,robot vision and robot intelligent grasping are reviewed in this thesis.Considering the current problems and deficiencies of researches on intelligent grasping technology,this thesis,basing on the robot's vision technology,studies the NAO robot's intelligent grasping technology.In order to achieve NAO robot target capturing,firstly,the NAO robot researching platform and its visual system are introduced in this thesis as well as the discussion of the target recognition methods,robot's vision positioning technology and visual servoing control technology.Secondly,to improve the efficiency of target recognition,a target recognition algorithm based on color and contour information is proposed.Further,by analyzing the imaging characteristics of NAO cameras,an uncalibrated monocular vision ranging model based on ground plane constraint is established and the accuracy of target location is verified by experiments.Finally,kinematics modeling and the analysis of NAO arm are carried out with the help of robot kinematics.Besides,the robot's joint angle interpolation makes the control of NAO arm's motion become more effective and it also helps to achieve the target grasping.For the intelligent grasp of NAO robot,this thesis,based on target recognition and location algorithm and target grasping technology,put forward the intelligent grasping algorithm,which is based on location visual servo control.Moreover,in the process of servo control,the target tracking strategy and NAO arm trajectory planning further contribute to improving the success rate of target acquisition.With the application of the intelligent grasping algorithm,the intelligent grasping experiment is carried out and it has been proved that the algorithm is more feasible and effective.