实时解析法在NAO模型运动学求逆解中的应用

摘要

In order to improve the accuracy and stability of the players in the movement of RoboCup3D simulation platform, a kind of real-time resolution of inverse kinematics for humanoid NAO model was proposed. Firstly, the lower limb topology of NAO model was analyzed, and its forward kinematics model was established. Secondly, the equations of every joint angle in all lower limbs were derived by real-time inverse kinematics analytic method. Finally, the algorithm was realized by coding. The experimental results validate the numerical stability and feasibility of online execution of the method, and the overall competitive level of the RoboCup3D simulation soccer team has been enhanced.%为了提高RoboCup3D仿真平台中球员在运动过程中的精确性和稳定性,提出一种针对仿人机器人NAO模型的运动学实时求逆解方法.首先,分析了NAO模型的下肢拓扑结构,并且建立了其前向运动学模型；然后,通过实时的逆运动学解析法推导出机器人下肢关节各个关节角的求解方程；最后,通过编码实现该算法.实验结果验证了该方法的求解数值稳定性和在线实施的可行性,提升了RoboCup30仿真球队的整体竞技水平.