摘要
文章以足球运动中守门员的守门动作过程为研究原型,开发出一种能够高度还原人类守门员动作行为的仿人机器人软件模块,以提升机器人的比赛表现。通过动作捕捉软件获得足球运动员的运动数据,并将其转换为机器人所需的各关节角度数值和运动轨迹坐标。在基于Ubuntu环境的SYCU-Legendary机器人软件系统中,编写代码实现机器人的各关节角度调节和分析。经过不断调试机器人各关节角度实现动作的高度还原,提出仿人机器人零力矩点(ZMP)稳定裕度的概念和计算方法,据此调定机器人的ZMP点位置,确保机器人动作的稳定性和可靠性。本研究的成果为机器人足球比赛及其他相关领域提供了重要的技术支撑与参考。
Taking the goalkeeper s goalkeeping action process in football as the research prototype,this paper developed a humanoid robot software module that can highly reproduce the actions and behaviors of human goalkeepers in order to improve its performance in football competition.The motion data of the goalkeeper were obtained through motion capture software and then converted to the required joint angles and motion trajectorial points for humanoid.In the SYCU-Legendary robot software system based on Ubuntu environment,code was written to realize the angle adjustment and analysis of each joint of the robot.After continuously debugging the angles of each joint of the robot to achieve a high degree of action reduction,the concept and calculation method of the stability margin of zero moment point(ZMP)of the humanoid robot were proposed,according to which the position of the ZMP point of the robot was adjusted to ensure the stability and reliability of the robot s action.The results of this study provide important technical support and reference for robot soccer competitions and other related fields.
作者
冯国旭
马凯
吴峰华
杨哲海
孟娜
尚芳
Feng Guoxu;Ma Kai;Wu Fenghua;Yang Zhehai;Meng Na;Shang Fang(Shenyang City University,Shenyang 110112,China)
出处
《运城学院学报》
2025年第3期62-68,共7页
Journal of Yuncheng University
基金
辽宁省自然科学基金计划(面上项目)(2024-MS-255)
中国民办教育协会规划课题:人工智能给民办教育带来的机遇和挑战研究
辽宁省教育厅高校基本科研项目:特种作业机器人若干关键技术研究。
