Dissertation > Excellent graduate degree dissertation topics show

The Research and Implementation of Target Recognition Algorithm and Action Planning in Humanoid Robot

Author: LiuKe
Tutor: KongLingFu；ZhaoFengDa
School: Yanshan University
Course: Computer Software and Theory
Keywords: Humanoid Robot Target identification Walking design FPGA chip PWM Signal
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 52
Quote: 0
Read: Download Dissertation

Abstract


Humanoid robot is the future direction of robotics, which has the ability to imitate humans in the structure and control level. Humanoid robot is a concentrated expression of theory and technology in intelligent robots. However, the development in target recognition and walking stability is still unsatisfactory. Under the analyzing of existing target recognition algorithm and walking gait model, combined with the advantages in hardware processing, the FPGA-based target recognition algorithm and robot walking stable gait model in target finding are proposed.Firstly, based on the characteristics of small humanoid robots, the deficiencies of common color compression method are analyzed and improved, the FPGA-based target recognition algorithm is designed. The algorithm uses look-up table based color compression methods and detects the target with statistical method, which innovatively adds the asynchronous feature to the module, thus implements the parallel computing of RGB receiving module, two-dimensional filtering and data compression module and target color comparison module.Secondly, based on the recognition of target, according to the behavioral characteristics of humanoid robots, the method of ZMP stability algorithm is improved, walking stable gait model in target finding is designed .The model uses FPGA-based target recognition algorithms, utilizes the kinetics principle of gait and implements the walking stability in robot walking.Finally, the Verilog hardware description language is used to realize the proposed recognition algorithm, and the ModelSim-Altera simulation software is used to commit the timing analysis of target recognition results; The gait model of robot walking is simulated under Matlab 7.0 platform, which verifies the stability of gait planning.

Related Dissertations

  1. Wheeled humanoid robot navigation and path planning,TP242
  2. Study and Design on Humanoid Robot Monitoring and Control System,TP242
  3. SOPC based on the development and application of XC2VP30,TN47
  4. The Design of Video Image Acquisition System Based on FPGA and USB2.0,TP274.2
  5. Research of Image Acquisition and JPEG Compression Encoding Based on FPGA Technology,TP391.41
  6. The Design of Video Image Processing System and Study of Algorithm Based on FPGA,TP391.41
  7. Design of Solid-state IDE Interface Based on FPGA,TP334.7
  8. Gait Planning in RoboCup Soccer Simulation Competition,TP242
  9. The Software Design and Research of MIS Communication System,TP273.5
  10. Data Acquisition and Processing for Humanoid Robot Foot Sensing System,TP242
  11. Research on Humanoid Robot Vision Systems and Motion Planning System of Shooting,TP242
  12. The high - speed data acquisition system design and CPCI interface,TP274.2
  13. The Humanoid Robot Goalkeeping System Based on the Wireless Communication,TP242
  14. Acoustic Target Recognition based on multi- scale resolution,E91
  15. The Design and Realization of Modeling & Simulation Platform for Humanoid Robots,TP242.6
  16. Humanoid Robot Soccer System Based on Global Vision System,TP242.6
  17. Three-dimensional Modeling and Simulation Research of Humanoid Robot Based on Pro/E and ADAMS,TP242.6
  18. The Lnfrared Moving Object Recognition Based on Mult--Templates,TN219
  19. The Application of Support Vector Machines in Underwater Target Recognition,TP391.41
  20. Radar Target Recognition Method from the image,TN957.51
  21. Design of Humanoid Robot Soccer System Based on Global Vision,TP242.6

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile