关键词: 仿人机器人, 自主姿态测量, 惯性测量单元, 四元数, 姿态解算, 卡尔曼滤波器

Abstract:

In the RoboCup soccer field of Humanoid Robots,the real-time attitude algorithm on Humanoid Robots is one of the core technologies of the Motion Control System.The paper mainly introduces the properties of MEMS accelerometer,magnetometer and gyroscope.On the premise of autonomous measurement of attitude,the author fuses multi-sensor information of inertial measurement unit,and proposes the attitude algorithm based on quaternion.In view of the noises and measurement errors of sensor data,this method designs Kalman filter to gain the compensation for shifts in data.Thus,the measuring accuracy of the whole attitude estimation is improved.Experimental results validate the proposed method.

Key words: humanoid robots;autonomous measurement of attitude;inertial measurement unit;quaternion;attitude algorithm;Kalman filter