Based on the kinematics equation and the orthogonal character of the rotation sub-matrix in a transformation matrix,an approach to the inverse kinematics problem of 6R robots is proposed.

In order to improve the accuracy and efficiency of the inverse kinematics algorithm for general 6R robots, an optimized algorithm was proposed based on symbolic processing and matrix decomposition.

By applying dual quaternions in complex numbers form in reverse displacement analysis of 6R robots,it is proven that expanding the Dixon resultant of the corresponding polynomial system leads to a univariate polynomial of degree 16.

With the space 6R robot as the research object, this disertation divides the space robot into two categories, one of which is the free-flying robot, the other is the fixed-base-like space robot, and makes the kinematics modeling, motion planning, fault tolerant planning and carries several tests and experiments to validate the proposed algorith.

To improve the extent of human intelligence participating in the robotic soccer match,a human vs robot mach is put forward.

Super under-actuated humanoid robot multi-fingered hand;

Running motion planning for the humanoid robot in the sagittal plane;

Development of the detecting system for arm motion of humanoid robot;