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摘要: 提出了一种基于人体运动的考虑节奏相似性的仿人机器人复杂动态动作设计方法. 首先, 把人体的运动分割成基本动作段, 给出了运动学约束, 讨论了复杂动态动作的稳定性调节方法. 然后, 提出了考虑运动节奏的仿人机器人模仿人体动作的相似性函数, 并给出了满足运动学约束和动力学稳定性、具有高相似性的运动轨迹求解方法. 最后, 通过在仿人机器人 BHR-2 上进行中国功夫``刀术''实验验证了该方法的有效性.Abstract: This paper explores a method of designing humanoid motion with rhythm considered based on human motion capture. Firstly, human motion is segmented into primitive motions. Secondly, the kinematics constraints and stability adjustment method are formulated. Thirdly, the similarity evaluation with rhythm considered is made, and a method to derive humanoid motion with high similarity is presented. Finally, an experiment of Chinese swordsmanship was performed using our developed humanoid robot BHR-2 to illustrate the effectiveness of this method.
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Key words:
- Humanoid robot /
- similarity /
- rhythm /
- dynamic stability /
- kinematics constraint
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