Design and Implementation of Positioning and Motion Planning System for Biped Humanoid Robot
PENG Xi
PAN Lei
XIA Jun
ZHU Yunrui
LI Yangtao
Abstract：Based on ZigBee technology and multi-sensor data fusion,the indoor positioning and motion planning control sys-tem of bipedal humanoid robot is designed and realized,and the spatial model and attitude model of the robot motion process are es-tablished respectively to obtain the real-time position and attitude information of the robot and realize autonomous motion planning.The system combines the Raspberry Pi 4B and 32-channel serial bus servo control board as the core control platform,which better realizes the direction control and target navigation functions of the robot.
Keywords：humanoid robotmulti-sensor data fusionZigBeeindoor positioningmotion planning
Publication Date：2024-02-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 399-402 )