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Research on Biomimetic Coordination Action of Service Robot based on Stereo Vision

机译：基于立体视野的服务机器人仿生协调作用研究

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摘要

Inspired by the bionic stereoscopic vision of the human body, satisfying the human needs for robot services, a service robot used for the family daily life was designed, which was used as the experimental carrier to conduct researches on humanoid coordination. According to the Goodman model equation, a target tracking algorithm based on trinocular stereo vision is established by using robot stereo vision to establish the accurate positioning of the target object to the robot coordinate system. The tracking of the moving object and the static object of the robot is realized, and the simulation experiment of the motion and static target object of the robot is completed. The results show that the robot can grasp the target quickly and accurately by the nonholonomic constrained omnidirectional wheeled chassis and the robot bionic target tracking algorithm.
机译：灵感来自于人体的仿生立体视觉，满足机器人服务的人类需求，设计了一种用于家庭日常生活的服务机器人，被用作对人形协调进行研究的实验载体。根据Goodman模型方程，通过使用机器人立体声视觉建立基于三曲立体视觉的目标跟踪算法，以建立目标对象对机器人坐标系的准确定位。实现了移动物体的跟踪和机器人的静态对象，完成了机器人的运动和静态目标对象的模拟实验。结果表明，机器人可以通过非完整的约束全向轮式底盘和机器人仿真目标跟踪算法快速准确地掌握目标。

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