Design of Tai-Chi Push-Hands Robot Control System and Construction of Visual Platform

Taking the Tai-Chi Push-hands Mobile Robot as the research object, the corresponding theoretical research has been carried out, and a lot of theoretical analysis, model simulation and experimental debugging have been done. The simulation system and the solid model platform are built. The trajectory planning, kinematics, information acquisition and control of humanoid robot are studied and analyzed. The main contents are as follows: (1) Research on PID based on ant colony algorithm. (2) Tai-Chi push-hands arm system based on STM32 platform is built. (3) Construction of a humanoid robot system based on Kinect depth camera. In order to achieve better results in human-computer interaction, Kinect and Nao robots are used as the research objects, and Kinect depth camera is used to collect human posture information, which is transmitted to Nao robots, and the effect of human-computer tracking is preliminarily completed.