仿人足球機(jī)器人腳底傳感系統(tǒng)設(shè)計與應(yīng)用.pdf

1、重慶大學(xué)碩士學(xué)位論文仿人足球機(jī)器人腳底傳感系統(tǒng)設(shè)計與應(yīng)用姓名：王曉龍申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：李祖樞201004英文摘要IIIABSTRACTHumanoidrobottechnologyinvolvingmechanicscomputerelectronicsdynamicbiologycybericssystemsengineeringartificialintelligencemanyothertechn

2、ologieshasbecomethemostrepresentativehightechnologiesof21stcentury.Itrepresentsthehighestachievementsofmechanicalelectricalintegrationisthemostactivefieldsofscientifictechnologicaldevelopment.Asahotresearchhowtoenhanceth

3、ehumanoidrobotsabilitytoadapttotheunknownenvironmenthasbeenthefocusofthestudyinhumanoidrobotresearch.ThroughdesigningrealizingfootsenssystemthisresearchisdertoonlineaccessZMPpointuseitaswalkingstabilitycriteriontocontrol

4、humanoidrobotachievestablewalking.Firstlybyreviewingsummarizingthehistydevelopmentstatusofhumanoidrobotthispapercomparesthefootsenssystemofhumanoidrobotdesignedbydifferentresearchinstitutionsexplainstheresearchbackground

5、tasksapplicationprospectsatlastgivesouttheframeofthepaper.SecondlybyanalysingtheclassificationcomparisonofthewalkingmodetheconceptofZMP(ZeroMomentPoint)stableregionstabilitymarginthefmulanatureofZMPisintroduced.Thispaper

6、analysestherelationshipofZMPstabletheneducetheZMPstabilitycriterionusesitasthestabilitycriterionofhumanoidrobot.BaseontheLagrangianmethodthegeneraldynamicmodelofhumanoidrobotsisupbuilded.Astheresearchobjectitisconcludeth

7、attherobotcannotachievestablewalkingbyadjustingtheankleintheabsenceoffeedbackconditions.TherefeitisimptanttodevelopfootsenssystemtodetectZMPintroduceantifceinfmationfeedbackcontrol.Thirdlybyanalyzingthelimitationsofcurre

8、nthumanoidrobot’scontrolsystem、hardwarestructuretheexternalsensdataacquisitionchannelisbuilttolinkwiththeiginalcontrolsystemeasytoextend.Itfmsanopenlayerinfmationcollectionprocessingstructureprovidesabasisfthechanneloffo

9、otsensinfmationcollectionintegrationofmultisensinfmation.Fourthlythefootsenssystemisdesignedimplementeditswholestructurevariouscomponentsfunction(includingmechanicaldesignhardwaredesignsoftwaredesign)isdetailed.Throughth