文档介绍：Classi?ed Index: .: for the Master Degree in EngineeringControl System Design for Humanoid RobotCandidate:Lihua ZhouSupervisor:Professor Z. X. LiAcademic Degree Applied for:Master of EngineeringSpecialty:Control Science and EngineeringAf?liation:Shenzhen Graduate SchoolDate of Defence:December, 2007Degree-Conferring-Institution:Harbin Institute of Technology哈尔滨工业大学工学硕士学位论文摘要仿人机器人技术是机器人中的一个重要分支,代表着机器人发展的前沿技术。是当代科学技术研究的热点之一。其中控制器设计是仿人机器人技术重要的组成部分,直接影响着仿人机器人的工作性能。本文首先对仿人机器人的控制系统进行了总体设计,采用模块化的方法,将控制系统分为上下位机,提高了系统的稳定性。通过分析舵机的控制方法,实现舵机的速度平滑控制;介绍了CMUcam2计算机视觉系统,采用基于颜色的物体追踪方法,并通过CMUcam2系统的摄像头的姿态角测算物体的距离,实现物体在空间中定位的功能。其次,介绍了控制系统的软硬件设计。硬件设计方面介绍了硬件电路的设计,并分析了电路设计过程中常有的干扰问题。软件方面利用Atmeag128的Bootloader功能,解决了大数据量在微控制器中的存储问题;由于机器人关节众多,采用软件PWM控制的方法,有效降低了系统的硬件复杂度,提高了系统的抗干扰能力;基于CMUcam2视觉系统,设计了机器人根据小球位置信息制定行走的策略,实现了机器人稳定行走到小球跟前并完成踢球动作。最后,本文利用基于空间的轨迹规划方法,规划仿人机器人动态行走时的步态,并利用遗传算法寻找机器人基于ZMP判据的最大稳定裕度。仿真结果表明,该方法可以有效提高了机器人的行走稳定性。关键词仿人机器人;视觉定位;遗传算法;ZMP– I –哈尔滨工业大学工学硕士学位论文AbstractThe technology of humanoid is an important branch of robotic research, it rep-resents the forefront technology of robotics research and it is also one of the mostpromising topics in the current technology. The design of humanoid robot’s con-troller, which in?uences the performance of humanoid robot directly, is one of themost ponents in humanoid , the thesis designs a total structure of the humanoid robot’s controllersystem with method of modularization which divides the control system into highlevel and low level controller, therefore, the robust of the system is improved. Byanalyzing the method of controlling the rudder, velocity smooth control of the rudderis realized; it also introduces CMUcam2, which is puter vision system. In use ofthe method of tracking objects based on the objects’ color and the angles of camera’spose of CMUcam2 system, the distance between the objects and the humanoid robotcan be calculated. Hence the spatial position of objects can be obtained relativ