Kinect与Darwin机器人的联合调试与仿真平台的设计与实现 |
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引用本文:邓晓燕,潘文俊,郑镇城,林灿光,付志平,张广滔.Kinect与Darwin机器人的联合调试与仿真平台的设计与实现[J].计算技术与自动化,2017,(4):10-13 |
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中文摘要:机器人模仿学习是机器人技术的重要研究方向之一。针对机器人动作模仿学习,设计了Kinect和Darwin-OP2机器人的联合调试与仿真平台。该平台主要包括图像采集模块、运动控制模块和3D模型仿真模块,具有人体姿态解算、机器人实时状态监控及姿态仿真、与下位机网络通信及远程实时跟踪控制等功能。测试结果显示,该平台响应迅速、网络通信机制稳定、交互界面友好,能较好地实现机器人动作模仿学习。 |
中文关键词:模仿学习 机器人 调试与仿真 |
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Design of Joint Debugging and Simulation Platform for Kinect and Darwin Robot |
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Abstract:The joint debugging and simulation platform of Kinect and Darwin-OP2 humanoid robot for imitation learning is desigened.The platform mainly includes image acquisition module,motion control module and 3Dmodel simulation module,which has the functions of human body attitude solution,robot real-time condition monitoring and attitude simulation,communication with the lower computer through network and remote real-time tracking control.The experimental results show that the platform is responsive,the network communication mechanism is stable,the interface is friendly,and the robot action simulation can be realized well. |
keywords:imitation learning,robotics,debugging and simulation |
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