![]() ![]() PA-SIFT algorithm is used to quickly identify the graphics. ![]() At the same time, using the humanoid medium-sized football game machine system as the platform, the relevant processing algorithms of the humanoid football robot front-view system are studied to realize the work of color image segmentation, edge extraction, straight line extraction, cross-line recognition and target post-recognition. The optimal threshold of the enhanced image is automatically determined by the Ostu method, so the image will not be affected by shadows during segmentation, and the contour of the image can be segmented. ![]() First of all, this article uses color filtering to enhance the football characteristics in the VR perspective, so as to distinguish the football from the off-field environment and shadows. The purpose of this article is to identify football and related environmental variables through its VR images under the current situation where the vision system has become the only way for football robots to obtain the external environment, so as to improve the chances of winning the game. The proposed control system can maintain the humanoid robot's stability around the pitch axis when subject to pendulum disturbances or even restraining force from a spring balance. To handle the nonlinearities, the LQR controller is extended with fuzzy logic algorithm that changes the LQR gain value based on angle and angular velocity membership functions. This model is also used to design a Kalman Filter to estimate the system states from noisy inertial measurement unit (IMU) sensor and design a linear quadratic regulator (LQR) controller. The robot's joints consist of position-controlled servos which can be complicated to model analytically due to nonlinearities and non-measurable parameters, hence the dynamic model of the humanoid robot is acquired using a non-recursive least squares system identification. Two types of controllers are designed and implemented: ankle strategy and stepping strategy. This paper aims for a controller that can stabilize a position-controlled humanoid robot when standing still or walking on synthetic grass even when subjected to external disturbances. ![]()
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