I did n’t want to write a blog in the lab, so I sorted out the 15-year graduate design.
// May the robot dominate the world soon.
Put the effect first:
// I didn't know anything about MFC when doing this thing. Thanks to the help of the motor oil to build the framework, multi-threaded display, MFC displayed pictures, Nao SDK lag behind various small problems.
Real-time simulation of upper body and some simple leg movements:
Real-time imitation of a humanoid robot (based on Kinect)
Stepping imitation:
Kinect1 was used at the time, and the humanoid robot was the fourth generation of Nao.
The key is actually the establishment of model correspondence.
First of all, to facilitate the call to number the Microsoft bone model. As mentioned earlier in this article, this model human body has a total of 20 joints. Xi, Yi, and Zi, which are not explained below, refer to the joint nodes of the corresponding i numbers corresponding to the three-dimensional coordinate information of the human skeleton model in the Kinect coordinate system. . For example, X3, Y3, and Z3 refer to the X-axis, Y-axis, and Z-axis values of the head relative to Kinect.
It is assumed here that the upper body of the robot is upright.
Taking the right arm as an example, first consider the right shoulder joint-the Nao robot has two degrees of freedom of back-and-forth rotation and left-right swing, corresponding to the two coordinate coordinates of the shoulder joint point and elbow joint point in the bone parameters that need to be used in the bone model .
I wish everyone thick hair ~
Of course, the most important thing is Happy Valentine's Day ~
