摘要
近年来,随着人工智能技术的发展,可独立完成任务的自主智能机器人成为研究热点。视觉感知和步态控制作为机器人完成各项任务的重要手段,是亟需不断深入研究的技术点。为了拓展小型人形机器人的自主智能水平和应用场景,本文从国际自主智能机器人大赛技术问题出发,研究分析视觉感知和步态控制在模拟人类生活场景的任务(即U型赛)中的应用。首先,对比赛环境和软硬件平台进行介绍,其次分别分析了视觉感知和步态控制在大赛中的应用方法和算法实现,并以上下开横杆为例,介绍了U型赛参赛队伍所使用的算法并进行分析比较。随后,展示了历年参赛队伍的优秀成果,分析了比赛任务完成度,指出比赛的研究难点及可能的解决方向。最后,对未来大赛的技术应用发展方向进行总结。
In recent years,with the development of artificial intelligence technology,autonomous intelligent robots that can independently complete tasks have become a research hotspot.Visual perception and gait control,as important means for robots to complete various tasks,are technology points that need to be continuously deepened and improved.In order to expand the autonomous intelligence of small humanoid robots,this paper explores the applications of visual perception and gait control in tasks that simulate human life scenarios(i.e.,the U-shape competition)from the perspective of the International Competition of Autonomous Running Robots.Specifically,this paper first provides a brief introduction to the competition environment and software and hardware platforms,and then analyzes the applications and commonly used classical algorithms of visual perception and gait control in the competition.Next,this paper takes the up and down pole as an example,introduces the algorithms used by the participating teams in the Ushape competition,and conducts analysis and comparison.This paper also shows the excellent achievements of the participating teams over the years,analyzes the task success of the competition,and points out the research challenges and possible solutions.Finally,this paper summarizes the development direction of future competitions.
作者
李琼
张莹
张春
张柏雯
金天晔
曾气亮
曾凡芳
Li Qiong;Zhang Ying;Zhang Chun;Zhang Baiwen;Jin Tianye;Zeng Qiliang;Zeng Fanfang(Institute of Information and Artificial Intelligence Technology,Beijing Academy of Science and Technology,Beijing 100089,China;School of Integrated Circuits,Tsinghua University,Beijing 100084,China)
出处
《国外电子测量技术》
北大核心
2023年第4期56-65,共10页
Foreign Electronic Measurement Technology
关键词
国际自主智能机器人大赛
U型赛
自主智能机器人
视觉感知
步态控制
international competition of autonomous running robots
U-shaped competition
autonomous intelligent robot
visual perception
gait control
