测控技术2012，Vol.31Issue(10)：136-139,4.
双足机器人视觉系统的设计与应用
Design and Application of the Vision System of a Biped Walking Robot
许凤麟 1梁青 1周烽 1郑阳 1王永1
作者信息
- 1. 中国科学技术大学自动化系,安徽合肥 230027
- 折叠
摘要
Abstract
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 control system. In signal processing part, the video information collected by using two CMOS cameras is input signals, that is analyzed and calculated, finally the distance between the robot and the target is output. In the control 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 system, 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关键词
双足步行机器人/视觉系统/Linux系统/QT平台/闭环控制Key words
biped walking robot/ vision system/ Linux/ QT/ closed-loop control分类
信息技术与安全科学引用本文复制引用
许凤麟,梁青,周烽,郑阳,王永..双足机器人视觉系统的设计与应用[J].测控技术,2012,31(10):136-139,4.
