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Study and Design on Humanoid Robot Monitoring and Control System

Author: ZhangWenLin
Tutor: MaHongXu
School: National University of Defense Science and Technology
Course: Control Science and Engineering
Keywords: Humanoid robot Monitoring system Data communication Autonomous positioning Path planning Ant Colony Algorithm Human-Computer Interaction
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 65
Quote: 1
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Abstract

Since the 1970s, experts have done a lot of research and development of humanoid robot, made a breakthrough. However, limited by the development of the related disciplines, humanoid robot can not achieve self-control, has remained basically at the laboratory development phase. At the same time, with the intensification of the aging of the population, the demand of the people on the work and life of the elderly can be assisted in the indoor robot is greatly enhanced. Obviously, the best choice is a humanoid robot able to independently perform tasks. However, the humanoid robot has complete autonomy can not be achieved and monitored by the operator of the semi-autonomous humanoid robot is the only way in the development process. In this paper, the humanoid robot developed by the laboratory experiment platform, to research and design the indoor structured environment monitoring system. Humanoid robot mechanical, control systems and capacity, the humanoid robot work environment, mode of operation and functional requirements analysis, then design the hardware and software structure of the monitoring system and monitoring system divided into data communication, motion control and three sub-systems of the human-computer interaction. Then, three sub-systems design and implementation. Wireless communication module and CAN bus communication module for data communications subsystem design. UDP protocol limited reliability design optimization, based on PCI9052 interface chip 8-channel CAN bus communication. Motion control subsystem humanoid robot in structured indoor environment, self-positioning, path planning and motion planning. Designed self-positioning method based on dead reckoning pose tracking and the signpost recognition based global positioning, and the combination of these two kinds of methods designed to walk positioning mechanism. Grid method is a modeling environment and rasterized environment path planning based on improved ant colony algorithm, simulation results prove the feasibility of the algorithm. Designed based on the basic behavior online synthetic humanoid robot walking motion planning method, continuous walking, in which the basic behavior of offline planning. For human-computer interaction subsystem design the man-machine interface and voice control mode. The airborne visual display interactive interface to alleviate the burden of communication, at the same time ensure that the operator of a comprehensive understanding of the current state of the robot and the robot pose and planning path display synchronized movement of the three-dimensional virtual robot. Voice control mode is based on the Microsoft SAPI5.1 design, performance testing results show that the system operation by voice command, the recognition rate of 95% or more, and does not mistake the noise and the operator's non-voice instruction identification.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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