封面
声明
致谢
中文摘要
英文摘要
目录
1绪论
1.1课题研究背景与意义(Background and Significance of The Research)
1.2课题的国内外研究现状(Current State of Micro-Combat Humanoid Robot)
1.3 自主运动相关技术( Related Technologies to Achieve Independent Movement)
1.4本论文结构安排 (Main Research Contents)
2系统的总体设计与研究
2.1系统设计整体思想(System Design)
2.2机械结构设计(Mechanical Structure Design)
2.3运动控制部分设计(Design of Motion Control Part)
2.4视觉系统设计(Design of Visual System)
2.5通讯系统设计(Design of Communication System)
2.6本章小结(Summary of The Chapter)
3机械系统的设计与研究
3.1仿人搏击机器人结构及自由度设计(Design of Structure and Freedom of Micro-Combat Humanoid Robot)
3.2仿人搏击机器人步行稳定性规划(Walking Stability Planning of Micro-Combat Humanoid Robot)
3.3仿人搏击机器人虚拟样机模型动态仿真(Dynamic Simulation of Virtual Prototype Model of Micro-Combat Humanoid Robot)
3.4仿人搏击机器人搏击动作设计(Design of Fighting Action of Micro-Combat Humanoid Robot)
3.5本章小结(Summary of The Chapter)
4运动控制系统的设计与研究
4.1硬件分析与设计(Analysis and Design of Hardware)
4.2运动控制系统软件设计(Software Design of Motion Control System)
4.3本章小结(Summary of the Chapter)
5图像处理系统的设计与研究
5.1图像获取及预处理(Image Capture and Pretreatment)
5.2 目标定位与姿态检测(Object Localization and Gesture Detection )
5.3目标跟踪(Target Tracking)
5.4动作决策(Action Decision)
5.5本章小结(Summary of the Chapter)
6通讯控制系统的设计与研究
6.1PC与机器人间图像传输(Image Transmission Between Human and Machine)
6.2状态信息及控制指令传输与执行(Transmission and Execution of State Information and Control Instructions)
6.3图形化控制终端界面设计(Design of Graphic Control Terminal Interface)
6.4系统多线程通讯框架设计(Design of Multi Thread Communication Framework for System)
6.5本章小结(Summary of the Chapter)
7实验结果与分析
7.1目标状态判断(Judgment the Target State)
7.2目标距离判断(Judgment the Target Distance)
7.3图像采集系统测试(Testing of Image Acquisition System)
7.4通讯系统测试(Testing of Communication Systems)
7.5仿人搏击机器人性能实验及分析(Performance Test and Analysis of Humanoid Fighting Robot)
7.6本章小结
8总结与展望
8.1总结(Conclusions)
8.2展望(Prospect)
参考文献
作者简历
学位论文数据集