摘要
在一个十自由度双足步行机器人的平台上,基于双目视觉进行机器人视觉系统的设计。该系统包括两部分:一部分用于处理视频信号,另一部分为闭环控制系统。在信号处理部分,利用两个CMOS摄像头采集到的视频信息作为输入信号,基于TI公司的OMAP3530微处理器在Linux操作系统下进行图像信号的分析、计算等处理,输出机器人距离目标物的距离。在控制部分,以第一部分的输出信号作为输入,用DSP作为控制芯片实时控制机器人步态,并将步态调整结果作为反馈信号,使整个系统形成闭环控制,实现了机器人的自主控制。基于该思想,实现了对双足机器人步态的稳定控制,实验结果验证了该方法的可行性。
A vision system on a biped walking robot of ten DOFs （ degree of freedom） based on binocular vision is designed. The system includes two parts, one is used to process video signal, the other is a closed-loop con- trol system. In signal processing part, the video information collected by using two CMOS cameras is input sig- nals, that is analyzed and calculated, finally the distance between the robot and the target is output. In the con- trol part, the output of the first part as input, DSP is used as the main control chip to control the robot＇ s gait, and the results of adjust of gait as a feedback signal, the whole system is made to be a closed-loop control sys- tem, the robot autonomous control is realized. Based on the idea, the stability control of the biped walking robot is realized, and the experimental results verify the feasibility of the method.
出处
《测控技术》
CSCD
北大核心
2012年第10期136-139,共4页
Measurement & Control Technology
