Journal of South China University of Technology (Natural Science Edition) ›› 2008, Vol. 36 ›› Issue (1): 18-24.

• Computer Science & Technology • Previous Articles     Next Articles

Design and Implementation of Virtual Teaching System for Humanoid Robot

Gan Zhi-gang  Xiao Nan-feng   

  1. School of Computer Science and Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China
  • Received:2007-04-09 Revised:2007-05-16 Online:2008-01-25 Published:2008-01-25
  • Contact: 甘志刚（1979-），男，博士生，主要从事仿人机器人方面的研究． E-mail:gdgzgzg@163．com.
  • About author:甘志刚（1979-），男，博士生，主要从事仿人机器人方面的研究．
  • Supported by:

    国家自然科学基金资助项目（60375031）;国家自然科学基金与中国民用航空总局联合资助项目（60776816）;广东省自然科学基金重点资助项目（36552）

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Abstract:

The 3D virtual teaching of humanoid robot via virtual reality technology is very significant for improving the control algorithms of a humanoid robot. In this paper, the inverse kinematic calculations are first presented for the humanoid robot with 7-DOF （Degree of Freedom） arms and 6-DOF legs, and the space trajectory planning of the arms and legs is then implemented by means of cubic polynomial interpolation. Furthermore, a 3D virtual teaching system for the humanoid robot is designed and implemented. By teaching the humanoid robot to dance, it is finally proved that the proposed virtual teaching system is correct and feasible.

Key words: humanoid robot, virtual teaching system, redundant degree of freedom, inverse kinematics, trajectory planning