双足步行机器人论文文献

That the most advanced event of science and technology robot football match football moves is one kind of the motion that everybody is fond of very much. As if let a robot go and play football , sounding like Arabian Nights. Can the robot also go to play football? And, still need to be composed of a team, the different robot needs to interwork? Need to know the robot needs to take part in the competition must need to eye , self pair of leg , self cerebrum having self, have to mouth having self with self try to tell others , cooperate and carry out competition. The football now robot does not achieve looking like our person. According to scientist's estimate this has to spend 50 again , is that 2050 or so ability achieves in a true football field ground, comparing with we carry out competition under people's rules of the game-like condition. In the sports cast arriving at at that time possible TV relaying, robot football is able to take up very big specific gravity. Certainly, this is to conjecture, at present till, the influence robot football game thing organization has FIRA international robot football federation and ROBOTCUP international robot football world cup match have most in reality on the international. Catalogue [conceal] Robot football match FIRA world cup RoboCup robot football significance football robot current situation [Edit Duan] robot football match football now robot competition has two series: Be ROBOCUP and FIRA. Need to carry out a competition every year. China has participated in FIRA competition most long ago, both representative of Northeast University team and representative of harbin University of Technology team have got good achievement. China has participated in ROBOCUP series competition besides. In ROBOCUP in 2001 competition, representative team of Tsing Hua University has gained a world champion. Besides, the Chinese artificial intelligenceAI institute has set up robot football special field committee on 2001. Robot football has participated in the science and technology bid for hosting Olympic Games subject activity , will have participate in the Football World Cup in 2002. All above activity explains that robot football gains fine development in China. Main robot football game type is a type (MIROSOT) mark act on self's own partly , the type (ROBOSOT), is similar to person type (HUROSOT) , simulated type (SIMUROSOT) four species types completely autonomously. [Edit Duan] FIRA world cup FIRA is the abbreviation of international robot football federation. Advanced technology of the earliest reason of FIRA robot football match Korea Republic research institute (Korea Advanced Institute of Science and Technology, Professor the KAIST) gold Zhong Huan (Jong-Hwan Kim) has brought forward the first international games on 1995, and Korea Republic (Daejeon) in KAIST location has held on 1996. Second tiny robot football match (MiroSot97) is in KAIST in June , 1997, holding a period , international robot football alliance (Federation of International Robot-soccer Association , FIRA) proclaims the founding of. FIRA is hold conference within the whole world range every year (FIRA Robot Soccer World Cup) henceforth , hold (FIRA Congress) academic conferences at the same time , confess to enter the competition person exchanges their experience and technology studying aspect in robot football. KAIST in Korea Republic land for growing crops holds the first MiroSot competition from 1996 so far, FIRA have already held the twelve world cup competition, the footmark is all over the Asia , Europe , America and Oceania , becomes have most horizontal one of the match thing composing in reply influence of international robot of all kinds contest middle. Except the once a year world cup competition, still have a lot of provincialism FIRA robot football match every year. The vigorous robot football match plays have arrived at gigantic push role to robot football go into. FIRA robot football match kind 1. The type is partly autonomously robotic football: MiroSot 2. The type is completely autonomously robotic football: RoboSot 3. Simulated robot football: SimuroSot 4. Subminiature partly autonomously Ji Qi Ren Ji Qi Ren football: NaroSot 5. Subminiature entire autonomously robotic football: KheperaSot 6. Be similar to person robot football: HuroSot 7. RoboCup robot football match kind 8.11 simulated VS11 group competition 9.5 VS5 minitype robot group competition 10. Minitype robot group standard competition (every 11 people of team) 11. Medium-sized robot group competition 12. Sony four leg robots competition relates to FIRA China in July , 1997, the international robot football alliance Chinese branch (be called the FIRA Chinese branch for short) is founded , the branch is set up in harbin University of Technology , is held the post of a chairman by Hong Bing 1 7 F professor. The labor intelligence institute has the robot football job committee as subordinates in the same year , is held the post of a director at the same time by Hong Bing ? F professor. Henceforth successively have organized the seven the whole nation robot football championship contest during the ten years , under the leadership of FIRA Chinese branch,and robot football go into having driven in the homeland forcefully developing.The second big series robots football match is RoboCup. RoboCup (Robot World Cup) is a international organization , is founded in Japan in 1997. RoboCup holds the robot football match with robot football as centre go into problem , by the fact that , aims at promoting artificial intelligenceAI , robot technology and their development of relevance discipline. Ultimate RoboCup target is anthropomorphic robot football team founded one acting on self's own completely in 2050 , is able to carry out one football game in its real meaning with human being. RoboCup has organized so far already the eight world cup match. The event has mainly: Simulated computer competition (Simulation League1 , minitype football robot compete in (Small Size League (F one 1 80) ), medium-sized the football robot competes in (Middle Size League (F2000) 1 , four leg robot football game Four Legged projects such as Robot League) , anthropomorphic robot football game (Humanoid league) autonomously. Hold rush to deal with an emergency being comparable to (RoboCupRescue) and robotic elementary robot match besides the robot football match , RoboCup at the same time (RoboCup Junior). That the robot rushes to deal with an emergency being comparable to is to study the reality how to apply robot arriving at rushes to deal with an emergency rescuing middle , hope rescues and development of job by holding competition being able to drive human being reality to rush to deal with an emergency in varying degrees, event two big series simulating competition and the robot contest including the computer. At the same time, RoboCup has aroused teen-agers for science and technology popularizing robot forward position, studying interest , the l2 moon has set up a branch match thing RobocupJunioro that primary and secondary school students of speciality organization participates in on 1999. Now, RoboCup hold the following competition: 1 simulates group competition 2 minitype robots competition 3 line up minitype robot competition, 5 Sony have had leg robot competition be sponsored by Sony) 6 people shapes robot competition (to begin from 2002 every time group including 11 robot 4 medium-sized robots competition , it has attracted attention of more and more many people in 2002 although former possibility significance that can have demonstrating 7 remote control robot competition announce that (soon) 8 RoboCup commentators system demonstration [edit Duan] robot football) football robot competition carrying out almost annual time juat now. Because of the ken having entered us leaks from it with the way being delighted to hear and see,although its volume is very small,its significance is very significant. It is to have synthesized computer art , automation technology , integration of machinery with electronics technology , artificial intelligenceAI technology, one door synthesis technology of principles of pattern recognition technology. The robotic key technology of football is artificial intelligenceAI technology , its eye field is to make a machine have people's wisdom. It can make a machine have the perception to look like person environment, face the ability that the environment studies. Artificial intelligenceAI includes intelligent control , machine perception , machine emotion , expert system , manpower life , nerve basic network and inheritance algorithm etc.We can remember a computer "dark blue" champion who defeats world Chinese chess? This is the artificial intelligenceAI accomplishment. Football now robot competition returns [this editor Duan] football robot current situation back not reaching us wanting to reach far condition, competition now is one kind of dyadic simulated competition completely , football now robot competition space is 1.3 1.5 meters X of rice space according to the regulation of international. There are center line on space, have door area, this and our actual competition has no very big differences. Every robotic football car body does not exceed 7.5 cms X according to the regulation of international 7.5 cms X 7.5 cms. ,(Minitype robot competition) the robot handcart bumps into a goal being responsible with minor red golf ball. There is a camera shooting head over field in match, the camera shooting head uploads information to computer middle. Specially appointed procedure after the computer is handled , is get the situation mounting both sides , is handle again process making policy systematically, export the corresponding data. After communication system sending comparing with taking-over,the handcart controlling a robot has been present run. Where is the robotic cerebrum in? The robotic cerebrum is decision-making system in putting one computer lead plane into. Decision-making system competition situation according to the scene enemy and selves both sides, the robot deciding our side is in the offensive be still defensive. And then decide the robotic formation and robot be away from the football distance decides to be that main attack still has assists , the host defends against still aids to defend against. Decide corresponding action according to every robotic mission. The corresponding football robot eye-- optesthesia system having self. Robotic football optesthesia system all reports the court enemy and selves both sides situation to computer middle , software go along handles and then with computer image. Operation such as making use of principles of pattern recognition technology , drawing to digital picture go along characteristic , expressing forming self computer inner data's, are robotic enemy and selves both sides location and an angle. The football now robot does not grow self mouth , they have but a unified mouth but. Order uniting an effluence from superordination machine, the communication system should order from the robot car body admits, therefore mutuality being able to realize the robot handcart is in harmony. Pair of leg about football robot: Pair of football robot leg is a robotic retinue wheel. Be that car body part , it include part such as carriage wheel , electric motor , carriage , communication module. The module receives the order that superordination machine sends in from communication , comes to drive retinue wheel speed , comes true thereby reaching the eye field controlling. 科技最先进的比赛项目——机器人足球比赛 足球运动是一种大家非常喜爱的运动。让机器人去踢足球，听起来像天方夜谭似的。机器人也能去踢足球? 而且，还是要组成一个队伍，不同的机器人要互相配合？要知道，机器人要参加比赛必须要有自己的眼睛，自己的双腿，自己的大脑，还得有自己的嘴——把自己的想法告诉别人，协同进行比赛。现在的足球机器人还没有做到像我们人一样。据科学家估计，这得再过五十年，即2050年左右才能做到在一个真的足球场地上，与我们人的比赛规则一样的条件下进行比赛。到那时可能电视转播的体育节目中机器人足球会占很大的比重。当然，这是猜测，目前为止，现实中在国际上最具影响力的机器人足球赛事组织有FIRA国际机器人足球联合会和ROBOTCUP国际机器人足球世界杯赛。足球机器人现状 现在的足球机器人比赛有两个系列：即ROBOCUP 和FIRA 。每年都要进行一次比赛。中国最早参加了FIRA比赛，东北大学代表队和哈工大代表队都取得了好成绩。另外中国还参加了ROBOCUP系列的比赛。在2001年的ROBOCUP比赛中，清华大学代表队获得了世界冠军。另外，中国人工智能学会在2001年成立了机器人足球专业委员会。机器人足球参加了科技申奥主题活动，还将参加2002年的世界杯足球赛。以上活动说明机器人足球在中国获得良好的发展。 机器人足球赛的主要类型分为半自主型（MIROSOT）、全自主型（ROBOSOT）、类人型（HUROSOT）、仿真型（SIMUROSOT）四种类型。[编辑本段]FIRA世界杯 FIRA是国际机器人足球联合会的缩写。FIRA机器人足球比赛最早由韩国高等技术研究院(Korea Advanced Institute of Science and Technology，KAIST)的金钟焕(Jong-Hwan Kim)教授于1995年提出，并于1996年在KAIST所在的韩国(Daejeon)举办了第一届国际比赛。 1997年6月，第二届微机器人足球比赛(MiroSot97)在KAIST举行期间，国际机器人足球联盟(Federation of International Robot-soccer Association，FIRA)宣告成立。此后FIRA在全球范围内每年举行一次机器人世界杯比赛(FIRA Robot—Soccer World Cup)，同时举办学术会议(FIRA Congress)，供参赛者交流他们在机器人足球研究方面的经验和技术。 从1996年在韩国大田的KAIST举办第一届MiroSot比赛至今，FIRA已经举行了十二届世界杯比赛，足迹遍布亚洲、欧洲、美洲和大洋洲，成为各类国际机器人竞赛中最具水平和影响力的赛事之一。除了一年一度的世界杯比赛以外，每年还有许多地区性的FIRA机器人足球比赛。蓬勃发展的机器人足球比赛对机器人足球的研究起到了巨大的推动作用。 FIRA机器人足球比赛种类 1.半自主型机器人足球：MiroSot 2.全自主型机器人足球：RoboSot 3.仿真机器人足球：SimuroSot 4.超小型半自主机器人机器人足球：NaroSot 5.超小型全自主机器人足球：KheperaSot 6.类人机器人足球：HuroSot 7.RoboCup机器人足球比赛种类 8.11VS11仿真组比赛 9.5VS5小型机器人组比赛 10.小型机器人组标准比赛（每队11人） 11.中型机器人组比赛 12.Sony四腿机器人比赛 关于FIRA中国 1997年7月，国际机器人足球联盟中国分会(简称FIRA中国分会) 成立，分会设在哈工大，由洪炳镕教授担任主席。同年中工智能学会下设机器人足球工作委员会，由洪炳镕教授同时担任主任。此后的十年间，在FIRA中国分会的领导下，先后组织了七届全国机器人足球锦标赛，有力地推动了国内机器人足球的研究和发展。 第二大系列的机器人足球比赛是RoboCup。RoboCup(Robot World Cup)是一个国际性组织，1997年成立于日本。RoboCup以机器人足球作为中心研究课题，通过举办机器人足球比赛，旨在促进人工智能、机器人技术及其相关学科的发展。RoboCup的最终目标是在2050年成立一支完全自主的拟人机器人足球队，能够与人类进行一场真正意义上的足球赛。RoboCup至今已组织了八届世界杯赛。比赛项目主要有：电脑仿真比赛(Simulation League1、小型足球机器人赛(Small—Size League(F一1 80))、中型自主足球机器人赛(Middle—Size League(F2000)1、四腿机器人足球赛Four—Legged Robot League)、拟人机器人足球赛(Humanoid league)等项目。除了机器人足球比赛，RoboCup同时还举办机器人抢险赛(RoboCupRescue)和机器人初级赛(RoboCup Junior)。机器人抢险赛是研究如何将机器人运用到实际抢险救援当中，并希望通过举办比赛能够在不同程度上推动人类实际抢险救援工作的发展，比赛项目包括电脑模拟比赛和机器人竞赛两大系列。同时，RoboCup为了普及机器人前沿科技，激发青少年学习兴趣，在1999年l2月成立了一个专门组织中小学生参加的分支赛事RobocupJunioro。 现在，RoboCup举行以下比赛： 1 模拟组比赛 2 小型机器人比赛 3 整队小型机器人比赛，每队包括11个机器人 4 中型机器人比赛 5 Sony有腿机器人比赛 (由Sony赞助) 6 人形机器人比赛(从2002年开始，2002年前可能会有演示) 7 遥控机器人比赛(即将公布) 8 RoboCup评论员系统演示 足球机器人比赛虽然刚刚开展几年时间，但是它吸引了越来越多人的关注。因为它以喜闻乐见的方式走进了我们的视野，虽然它的体积很小，但是它的意义非常重大。它是综合了计算机技术，自动化技术，机电一体化技术，人工智能技术，模式识别技术的一门综合技术。 足球机器人的核心技术是人工智能技术，它的目地是使机器具有人的智慧。它能使机器具有像人一样的感知环境，向环境学习的能力。人工智能包括智能控制、机器感知、机器情感、专家系统、人工生命、神经元网络和遗传算法等等。我们还能想起计算机“深蓝”战胜世界象棋冠军吗？这就是人工智能的成就。 现在的足球机器人比赛还远没有达到我们想要达到的地步，现在的比赛完全是一种仿真式的比赛，现在的足球机器人比赛的场地按国际的规定为1.5米×1.3米场地。场地上有中线，有门区，这与我们的实际的比赛没有什么太大的区别。每个足球机器人的车体按国际的规定不超过7.5cm×7.5cm×7.5cm.,（微型机器人比赛）机器人小车负责把红色的高尔夫小球撞进球门。在赛场的上方有一个摄像头，摄像头把得到的信息上传到计算机中。经计算机的特定程序处理，得到场上双方的态势，再经过决策系统的处理，输出相应的数据。经通讯系统发送与接收，控制机器人小车在场上奔跑。 机器人的大脑在哪里？机器人的大脑就是装在一台计算机主机中的决策系统。决策系统根据现场的敌我双方的比赛态势，决定我方机器人处于进攻还是防守。然后决定机器人的队形和机器人离足球的远近决定是主攻还是助攻、主防还是助防。根据每个机器人的任务决定相应的动作。 相应的足球机器人有自己的眼睛－－视觉系统。足球机器人的视觉系统把比赛场地的敌我双方的态势都反映到计算机中，然后用计算机图像软件进行处理。利用模式识别技术，对数字图像进行特征提取等操作，形成自己的计算机内数据的表达，即敌我双方机器人的位置和角度。 现在的足球机器人还没有长自己的嘴巴,但是他们却有一个统一的嘴巴。由上位机统一发出命令，该命令由机器人车体的通讯系统接收，所以能实现机器人小车的互相协调。 关于足球机器人的双腿：足球机器人的双腿就是机器人的左右轮。就是车体部分,它包括车轮、电机、车架、通讯模块等部分。由通讯模块接收上位机传来的命令，来驱动左右轮的速度,从而实现达到控制的目地。

我也是做类人机器人的初学者，一般情况下都是先建立平衡性系统方程，然后模拟一个机器人质量数据模型，进行虚拟仿真，通过以后选择处理芯片并且编写控制电路，然后进行控制系统实测。最后选定机件和传感器，做成实验样机。我的经验是先读论文，研究别人的实现方法，然后再自己构思机器人整体框架结构，然后再开始做平衡性系统的理论研究。这是我的直接经验，我正是跳过了前两部直接开始第三步所以走了很多弯路。关于平衡性算法我建议采用现在比较流行的zmp判据，如果是0基础的话我强烈建议你先学习zmp判据，然后读一些成型的毕业论文，注意初学的时候要读毕业论文而不是学术简报，因为几十页的毕业论文绝对会比寥寥几页的简报来的详细，而且很多分析方法会对你后面的构思有非常大的启发。我正在读的论文列表在后面发给你，全都是最近5年基于zmp判据的非常好的毕业论文，通过中国优秀硕士博士毕业论文检索全部可以找到。基于重心的双足步行机器人步态规划及稳定性控制设计与研究 郑丽娜 哈尔滨工程大学 类人足球机器人动作规划与自适应轨迹跟踪算法研究 郑丽丹 中国海洋大学 2009-05-01 硕士 双足机器人快速步行动力学研究 侯月阳 哈尔滨工业大学 双足机器人的步态控制研究 刘志川 中国科学技术大学 还有三篇sci检索可以找到：基于嵌入式系统平台的拟人机器人平衡与运动控制研究仿人机器人三维实时仿真系统的研究与实现仿人机器人设计及步行控制方法这些资料的查找曾经耗费了我很大的时间和精力，希望能给楼主节省大量的宝贵时间并能使你少走一些弯路。