Application of real-time analytic method in inverse kinematics of NAO model

doi:10.3724/SP.J.1087.2011.02825

Journal of Computer Applications ›› 2011, Vol. 31 ›› Issue (10): 2825-2827.DOI: 10.3724/SP.J.1087.2011.02825

• Artificial intelligence • Previous Articles Next Articles

Application of real-time analytic method in inverse kinematics of NAO model

WANG Fan^1,2, LI Long-shu¹

1.Key Laboratory of Intelligent Computing and Signal Processing, Ministry of Education, Anhui University, Hefei Anhui 230039, China
2.Department of Computer Science and Technology, Hefei Normal University, Hefei Anhui 230601,China

Received:2010-12-10 Revised:2011-06-12 Online:2011-10-11 Published:2011-10-01
Contact: Fan WANG

实时解析法在NAO模型运动学求逆解中的应用

王凡^1,2,李龙澍¹

1.安徽大学计算智能与信号处理教育部重点实验室,合肥 230039
2.合肥师范学院计算机科学与技术系,合肥 230601

通讯作者: 王凡
作者简介:王凡(1984-),男,安徽芜湖人,硕士研究生,主要研究方向:人工智能、机器人;李龙澍(1956-),男,安徽亳州人,教授,博士生导师,主要研究方向:智能软件、不精确信息处理。
基金资助:
安徽省自然科学基金资助项目(090412054);合肥师范学院科研项目(2010kj07)

Abstract

Abstract: In order to improve the accuracy and stability of the players in the movement of RoboCup3D simulation platform, a kind of real-time resolution of inverse kinematics for humanoid NAO model was proposed. Firstly, the lower limb topology of NAO model was analyzed, and its forward kinematics model was established. Secondly, the equations of every joint angle in all lower limbs were derived by real-time inverse kinematics analytic method. Finally, the algorithm was realized by coding. The experimental results validate the numerical stability and feasibility of online execution of the method, and the overall competitive level of the RoboCup3D simulation soccer team has been enhanced.

Key words: humanoid robot, inverse kinematics, analytic method, RoboCup simulation 3D, joint

摘要： 为了提高RoboCup3D仿真平台中球员在运动过程中的精确性和稳定性,提出一种针对仿人机器人NAO模型的运动学实时求逆解方法。首先,分析了NAO模型的下肢拓扑结构,并且建立了其前向运动学模型;然后,通过实时的逆运动学解析法推导出机器人下肢关节各个关节角的求解方程;最后,通过编码实现该算法。实验结果验证了该方法的求解数值稳定性和在线实施的可行性,提升了RoboCup3D仿真球队的整体竞技水平。

关键词: 仿人机器人, 逆运动学, 解析法, RoboCup仿真3D, 关节

CLC Number:

TP242

WANG Fan LI Long-shu. Application of real-time analytic method in inverse kinematics of NAO model[J]. Journal of Computer Applications, 2011, 31(10): 2825-2827.

王凡李龙澍. 实时解析法在NAO模型运动学求逆解中的应用[J]. 计算机应用, 2011, 31(10): 2825-2827.

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Application of real-time analytic method in inverse kinematics of NAO model

实时解析法在NAO模型运动学求逆解中的应用

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