论文部分内容阅读
小型仿人足球机器人在保持较低的构建成本条件下具有推进人工智能及机器人技术进步的潜力。该文在延续MOS系列先前设计的基础上,从结构、控制和软件方面改进并实现了新一代MOS-7小型平台。通过更改髋部关节自由度配置优化了下肢及躯干的空间布局;髋部驱动器连接方式的改进增强了机械结构的可靠性;依据任务实时性和运行快速性合理安排了决策控制系统的任务;图像采集系统实现了图像分辨率、可处理帧速率、可靠性及复杂度这4个维度的联合优化;通过引入粒子决策实现了智能算法的提升。MOS-7设计结果体现出有限资源合理配置、机电系统综合优化等小型仿人机器人设计特点。
Small-size humanoid soccer robots have the potential to advance artificial intelligence and robotics while maintaining low construction costs. Based on the continuation of the previous MOS design, this paper improves and implements a new generation of MOS-7 compact platform in terms of structure, control and software. Optimizing the spatial layout of the lower extremities and torso by changing the configuration of hip joint degrees of freedom; improving the connection of hip drive enhances the reliability of the mechanical structure; and rationally arranging the tasks of decision-making control system according to the real-time task and rapid operation; Acquisition system to achieve the image resolution, frame rate can be processed, reliability and complexity of these four dimensions of the joint optimization; through the introduction of particle decision-making to achieve an intelligent algorithm to enhance. MOS-7 design results reflect the design characteristics of small humanoid robots such as rational allocation of limited resources, comprehensive optimization of mechatronic system and so on.