| Humanoid robot is a research hotspot in the field of intelligent robots,and has attracted wide attention from the robotics community.This project is aimed at the Kid Size project of the Robo Cup humanoid robot competition.Based on the research results of the SEU?Uni Robot team of Southeast University over the years,this project designed and implemented a complete humanoid robot motion control system to improve the robot's motion performance.This thesis mainly includes:Building the software and hardware system of the robot.The robot adopts the control architecture of two-layer controller.In this project,the sensors and steering engine are selected.MCU is used as the lower controller of the robot to complete the timing task and instruction forwarding.The upper controller uses multithreading concurrent software architecture to generate the motion control data frame,which is sent to the lower controller.Designing the robot's lower motion control board and building the robot's communication system.The nodes of the communication system include two controllers,some servo actuators,and sensors such as attitude sensing modules.The robot communication system is used to connect these control nodes to complete stable data transmission.Designing an omnidirectional gait of a humanoid soccer robot based on the 3D inverted pendulum model and the robot mass model.A real-time feedback channel for the actual angle of the leg joints of the robot is constructed,and the closed-loop control of the gait is implemented based on the actual position of the feet of the robot and the position of the center of mass in real time,to make the gait more stable.Designing and implementing a robot's dynamic kick generator,and using the Bezier formula to plan the robot's kick trajectory,and controlling the balance of the robot's body based on the robot's pose sensing information and real-time mass center position.This thesis proposes a method for solving the inverse kinematics of two-leg joints in a robot kicking model.Dynamic kicking can control the kicking direction and plan the robot's kicking trajectory online.Compared with static kicking,it greatly improves the flexibility and stability of the kicking action.Designing a simulation tool and debugger for robot motion.Experiments are performed on the Webots simulation platform and the real robot respectively.The 2019 SEU?Uni Robot equipped with this motion control system has the motion capabilities required for robot soccer competitions.The stable walking speed reaches about0.15 m / s,the distance of dynamic kicking exceeds 1.8m.The robot has also achieved good results in the Robo Cup robot competition in 2019. |
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