IKid仿人足球机器人的自定位和球定位

Self-positioning and soccer-positioning of IKid humanoid robots

仿人足球机器人的定位问题是机器人完成自主移动和智能决策的关键问题之一。介绍了本校IKid仿人足球机器人自身在球场的定位和足球在机器人坐标系的定位。前者通过自身内部九轴惯性传感器测量加速度、磁场方向和旋转角速度,并在此基础上通过粒子滤波和时间漂移修正等手段补偿误差完成机器人自身的位置和姿态计算。后者通过摄像头采集足球的视觉图像,在图像处理的基础上通过单目摄像机视觉系统完成在眼坐标系中足球三维坐标的计算,并通过手眼标定实现足球在机器人坐标系的定位。以上定位系统和定位方法已被应用于现有的IKid机器人,使其更好地完成动态行走、找球和踢球等动作。

Positioning issue of Humanoid robots is one of the key issues for its auto moving and automatic decision . This paper introduces the self-positioning on soccer field and the soccer-positioning in robots coordinate frames of IKid humanoid robots from our team . With 9-axes inertia sensor to measure acceleration , magnetic field direction and rotation angular velocity , IKid humanoid robots removes measurement error by particle filter and time drift compensation ,and then calculates itself position and posture .In the meanwhile ,with one camera to capture soccer image ,IKid humanoid robots calculates the soccer ’ s position in the camera coordinates （that is the robotic eye coordinates） ,and then transform it to the robotic hand coordinates by hand-eye calibration parameters .The above positioning system and method have been applied to the IKid humanoid robots and help it to walk dynamically ,look for and kick the soccer better .