CN103217903B - 基于双平衡控制机制的仿人足球机器人全向踢球方法 - Google Patents
基于双平衡控制机制的仿人足球机器人全向踢球方法 Download PDFInfo
- Publication number
- CN103217903B CN103217903B CN201310116877.2A CN201310116877A CN103217903B CN 103217903 B CN103217903 B CN 103217903B CN 201310116877 A CN201310116877 A CN 201310116877A CN 103217903 B CN103217903 B CN 103217903B
- Authority
- CN
- China
- Prior art keywords
- robot
- angle
- football
- control
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310116877.2A CN103217903B (zh) | 2013-04-07 | 2013-04-07 | 基于双平衡控制机制的仿人足球机器人全向踢球方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310116877.2A CN103217903B (zh) | 2013-04-07 | 2013-04-07 | 基于双平衡控制机制的仿人足球机器人全向踢球方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103217903A CN103217903A (zh) | 2013-07-24 |
CN103217903B true CN103217903B (zh) | 2016-01-20 |
Family
ID=48815810
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310116877.2A Expired - Fee Related CN103217903B (zh) | 2013-04-07 | 2013-04-07 | 基于双平衡控制机制的仿人足球机器人全向踢球方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103217903B (zh) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105128011B (zh) * | 2015-09-15 | 2017-04-05 | 北京理工大学 | 一种基于视觉和移动的仿人机器人投射及稳定控制方法 |
CN105999692B (zh) * | 2016-05-17 | 2018-04-24 | 洪炳镕 | 仿人型机器人足球游戏机 |
CN106514653B (zh) * | 2016-11-07 | 2019-01-22 | 南京邮电大学 | 一种基于贝塞尔曲线插值的仿人足球机器人踢球方法 |
CN106964145B (zh) * | 2017-03-28 | 2020-11-10 | 南京邮电大学 | 一种仿人足球机器人传球控制方法及球队控球方法 |
CN107617220B (zh) * | 2017-09-06 | 2023-12-01 | 滨州学院 | 一种智能足球机器人控制系统及控制方法 |
CN107685788B (zh) * | 2017-09-06 | 2023-10-27 | 滨州学院 | 一种足球机器人 |
CN110065062A (zh) * | 2018-01-24 | 2019-07-30 | 南京机器人研究院有限公司 | 一种多关节机器人的运动控制方法 |
CN109318230A (zh) * | 2018-09-29 | 2019-02-12 | 鲁东大学 | 机器人动作优化方法、装置、计算机设备和存储介质 |
CN109703645B (zh) | 2018-12-29 | 2020-05-22 | 深圳市优必选科技有限公司 | 机器人质心位置调整方法、装置、机器人和数据存储介质 |
CN109828568B (zh) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | 对RoboCup比赛的NAO机器人寻球步态优化方法 |
CN109830078B (zh) * | 2019-03-05 | 2021-03-30 | 智慧眼科技股份有限公司 | 适用于狭小空间的智能行为分析方法及智能行为分析设备 |
CN110653819B (zh) * | 2019-09-25 | 2021-02-09 | 上海大学 | 一种仿人机器人的踢球动作生成系统及方法 |
CN110764413B (zh) * | 2019-10-29 | 2020-09-29 | 中国科学院自动化研究所 | 轮腿机器人的自稳定控制方法、系统、装置 |
CN111098300B (zh) * | 2019-12-13 | 2021-06-04 | 深圳市优必选科技股份有限公司 | 一种机器人平衡控制方法、装置、可读存储介质及机器人 |
CN113050616A (zh) * | 2019-12-27 | 2021-06-29 | 深圳市优必选科技股份有限公司 | 一种双足机器人行走的控制方法及双足机器人 |
CN111487972B (zh) * | 2020-04-24 | 2024-04-26 | 深圳市优必选科技股份有限公司 | 一种踢球的步态规划方法、装置、可读存储介质及机器人 |
CN112051797B (zh) * | 2020-09-07 | 2023-12-26 | 腾讯科技(深圳)有限公司 | 足式机器人运动控制方法、装置、设备及介质 |
CN115476352A (zh) * | 2021-05-31 | 2022-12-16 | 腾讯科技(深圳)有限公司 | 机器人控制方法、机器人控制系统及机器人 |
CN113377108B (zh) * | 2021-06-09 | 2024-05-28 | 乐聚(深圳)机器人技术有限公司 | 双足机器人的控制方法、装置、设备及存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1398121A1 (en) * | 2001-04-27 | 2004-03-17 | Honda Giken Kogyo Kabushiki Kaisha | Device for generating motion of legged mobile robot |
EP1559519A1 (en) * | 2002-11-06 | 2005-08-03 | Sony Corporation | Robot device, motion control device for robot device and motion control method |
CN102749919A (zh) * | 2012-06-15 | 2012-10-24 | 华中科技大学 | 一种多足机器人平衡控制方法 |
CN103019096A (zh) * | 2012-11-23 | 2013-04-03 | 北京理工大学 | 一种基于加速度优化的仿人机器人逆动力学控制器 |
-
2013
- 2013-04-07 CN CN201310116877.2A patent/CN103217903B/zh not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1398121A1 (en) * | 2001-04-27 | 2004-03-17 | Honda Giken Kogyo Kabushiki Kaisha | Device for generating motion of legged mobile robot |
EP1559519A1 (en) * | 2002-11-06 | 2005-08-03 | Sony Corporation | Robot device, motion control device for robot device and motion control method |
CN102749919A (zh) * | 2012-06-15 | 2012-10-24 | 华中科技大学 | 一种多足机器人平衡控制方法 |
CN103019096A (zh) * | 2012-11-23 | 2013-04-03 | 北京理工大学 | 一种基于加速度优化的仿人机器人逆动力学控制器 |
Non-Patent Citations (4)
Title |
---|
Development of an omnidirectional kick for a NAO humanoid robot;Rui Ferreira etc.;《advances in artificial intelligence-IBERAMIA 2012》;20121231(第7637期);第571-580页 * |
on optimizing interdependent skills:a case study in simulated 3D humanoid robot soccer;Daniel Urieli etc.;《Proc.10th Int.Conf.Autonomous Agents and Multiagent Systems》;20111231;第760-776页 * |
Patrick Macalpine etc..A champion agent in the robocup 3D soccer simulation competition.《Proceedings of the 11th international conference on autonomous agents and multiagent systems(AAMAS 2012)》.2012,(第1期),第129-136页. * |
基于强化学习的类人机器人步行参数训练算法;梁志伟等;《计算机工程》;20120420;第38卷(第8期);第13-15页 * |
Also Published As
Publication number | Publication date |
---|---|
CN103217903A (zh) | 2013-07-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN103217903B (zh) | 基于双平衡控制机制的仿人足球机器人全向踢球方法 | |
US20130127873A1 (en) | System and Method for Robust Physically-Plausible Character Animation | |
CN107598897A (zh) | 一种基于人体示教的仿人机器人步态规划的方法 | |
CN102375416B (zh) | 基于快速搜索树的人型机器人踢球动作信息处理方法 | |
CN106514653B (zh) | 一种基于贝塞尔曲线插值的仿人足球机器人踢球方法 | |
CN108563220A (zh) | 仿人足球机器人的运动规划 | |
CN103149933A (zh) | 基于闭环控制的仿人机器人全向行走方法 | |
Hiley et al. | The margin for error when releasing the high bar for dismounts | |
Graf et al. | A closed-loop 3d-lipm gait for the robocup standard platform league humanoid | |
Ramos et al. | Dynamic motion capture and edition using a stack of tasks | |
CN108681324A (zh) | 基于全局视觉的移动机器人轨迹跟踪控制方法 | |
Hiley et al. | The margin for error when releasing the asymmetric bars for dismounts | |
Tang et al. | Humanmimic: Learning natural locomotion and transitions for humanoid robot via wasserstein adversarial imitation | |
Li et al. | Dribbling control of omnidirectional soccer robots | |
Lofaro et al. | Humanoid pitching at a major league baseball game: Challenges, approach, implementation and lessons learned | |
Ficht et al. | Online balanced motion generation for humanoid robots | |
Pratomo et al. | Position and obstacle avoidance algorithm in robot soccer | |
Ramos et al. | Dynamic whole body motion generation for the dance of a humanoid robot | |
CN114053685A (zh) | 一种vr角色控制方法 | |
Song | Development of an omni-directional gait generator and a stabilization feedback controller for humanoid robots | |
Yuan et al. | Layered omnidirectional walking controller for the humanoid soccer robot | |
Zheng et al. | Optimization and control of cyclic biped locomotion on a rolling ball | |
Pristovani et al. | Implementation of direct pass strategy during moving ball for “T-FLoW” Humanoid Robot | |
Lofaro et al. | Humanoid throws inaugural pitch at major league baseball game: Challenges, approach, implementation and lessons learned | |
Lengagne et al. | Retrieving contact points without environment knowledge |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20130724 Assignee: Jiangsu Nanyou IOT Technology Park Ltd. Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: 2016320000208 Denomination of invention: Method for kicking ball at all directions by humanoid soccer robot based on double-balance control mechanism Granted publication date: 20160120 License type: Common License Record date: 20161110 |
|
LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
EC01 | Cancellation of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Jiangsu Nanyou IOT Technology Park Ltd. Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: 2016320000208 Date of cancellation: 20180116 |
|
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160120 |