| Title: | OS11-1 Design of Humanoid Soccer Robot Based on STM32 |
|---|---|
| Publication: | ICAROB2020 |
| Volume: | 25 |
| Pages: | 531-535 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2020.OS11-1 |
| Author(s): | Yuheng Zhang, Yulong Peng, Yizhun Peng, Lianchen Zhao, Zhou Zhang, Wanlong Peng |
| Publication Date: | January 13, 2020 |
| Keywords: | Humanoid robot, Dual controller, erial communication, Images processing |
| Abstract: | Humanoid robot is an important branch in the field of robotics, because its shape and movements are similar to human beings, it provides a good carrier for the related research in the field of artificial intelligence. Humanoid soccer robot of this paper is designed based on STM32 processor. Through theoretical analysis and experimental verification, the stability, working parameters and the division and cooperation of STM32 and 51 series single-chip computers of humanoid soccer robot system are analyzed, and determine the final control scheme. STM32 drives the camera to collect information, process images and make decisions. STC12C5A60S2 controls the robot steering gear to complete the corresponding action. Serial communication is used between the two controllers. The peripheral circuit mainly includes OV7725 camera module and TFT-LCD LCD display module. In order to recognize and approach soccer by humanoid soccer robot and kick soccer into the goal, we should design the action programs such as straight walking, left turning, right turning, head scanning course, left translating, right translating and kicking. Reasonable images processing and decision algorithms are also designed. Finally, the control program is developed on Keil software platform for debugging. The experimental results show that the humanoid soccer robot designed in this paper can accurately identify the soccer ball and the goal, and accurately complete the kicking actions, which meets the relevant requirements of the expected design and scheme. |
| PDF File: | https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS11/OS11-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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