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参数化优化的仿人机器人相似性前向倒地研究

柯文德 崔刚 洪炳 蔡则苏 朴松昊 钟秋波

柯文德, 崔刚, 洪炳, 蔡则苏, 朴松昊, 钟秋波. 参数化优化的仿人机器人相似性前向倒地研究. 自动化学报, 2011, 37(8): 1006-1013. doi: 10.3724/SP.J.1004.2011.01006
引用本文: 柯文德, 崔刚, 洪炳, 蔡则苏, 朴松昊, 钟秋波. 参数化优化的仿人机器人相似性前向倒地研究. 自动化学报, 2011, 37(8): 1006-1013. doi: 10.3724/SP.J.1004.2011.01006
KE Wen-De, CUI Gang, HONG Bing-Rong, CAI Ze-Su, PIAO Song-Hao, ZHONG Qiu-Bo. Falling Forward of Humanoid Robot Based on Similarity withParametric Optimum. ACTA AUTOMATICA SINICA, 2011, 37(8): 1006-1013. doi: 10.3724/SP.J.1004.2011.01006
Citation: KE Wen-De, CUI Gang, HONG Bing-Rong, CAI Ze-Su, PIAO Song-Hao, ZHONG Qiu-Bo. Falling Forward of Humanoid Robot Based on Similarity withParametric Optimum. ACTA AUTOMATICA SINICA, 2011, 37(8): 1006-1013. doi: 10.3724/SP.J.1004.2011.01006

参数化优化的仿人机器人相似性前向倒地研究

doi: 10.3724/SP.J.1004.2011.01006
详细信息
    通讯作者:

    朴松昊 哈尔滨工业大学计算机科学与技术学院副教授. 2004年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为多机器人系统和 智能控制.本文通信作者.E-mail: piaosh@hit.edu.cn

Falling Forward of Humanoid Robot Based on Similarity withParametric Optimum

  • 摘要: 提出了一种基于运动相似性的仿人机器人前向倒地动作设计方法.首先,分析了运动相似性并提出了关键姿势同步转换方法; 其次,为机器人前向倒地运动四级倒立摆建立了相似性变换条件下的动力学约束方程与关联的物理条件约束; 再次,引入参数化优化控制与强化技术,对机器人的触地过程进行了参数化优化.实验结果表明了该方法的有效性.
  • [1] Ke Wen-De, Cui Gang, Hong Bing-Rong, Cai Ze-Su, Yuan Quan-De. On biped walking of humanoid robot based on movement similarity. Robot, 2010, 32(6): 766-772 (柯文德, 崔刚, 洪炳镕, 蔡则苏, 苑全德. 基于运动相似性的的仿人机器人双足步行研究. 机器人, 2010, 32(6): 766-772)[2] Moldenhauer J, Boesnach I, Beth T, Wank V, Bos K. Analysis of human motion for humanoid robots. In: Proceedings of the IEEE International Conference on Robotics and Automation. Barcelona, Spain: IEEE, 2005. 311-316[3] Zhao Xiao-Jun, Huang Qiang, Peng Zhao-Qin, Zhang Li-Ge, Li Ke-Jie. Kinematics mapping of humanoid motion based on human motion. Robot, 2005, 27(4): 358-361 (赵晓军, 黄强, 彭朝琴, 张利格, 李科杰. 基于人体运动的仿人型机器人动作的运动学匹配. 机器人, 2005, 27(4): 358-361)[4] Ruchanurucks M, Nakaoka S, Kudoh S, Ikeuchi K. Generation of humanoid robot motions with physical constraints using hierarchical B-spline. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton, Canada: IEEE, 2005. 1869-1874[5] Zhang Li-Ge, Huang Qiang, Yang Jie, Shi You, Wang Zhi-Jie, Jafri A R. Design of humanoid complicated dynamic motion with similarity considered. Acta Automatica Sinica, 2007, 33(5): 522-528 (张利格, 黄强, 杨洁, 时有, 王志杰, Jafri A R. 仿人机器人复杂动态动作设计及相似性研究. 自动化学报, 2007, 33(5): 522-528)[6] Zhang Li-Ge, Bi Shu-Sheng, Gao Jin-Lei. Human motion data acquiring and analyzing method for humanoid robot motion designing. Acta Automatica Sinica, 2010, 36(1): 107-112 (张利格, 毕树生, 高金磊. 仿人机器人复杂动作设计中人体运动数据提取及分析方法. 自动化学报, 2010, 36(1): 107-112)[7] Takano W, Yamane K, Nakamura Y. Capture database through symbolization, recognition and generation of motion patterns. In: Proceedings of the IEEE International Conference on Robotics and Automation. Roma, Italy: IEEE, 2007. 3092-3097[8] Kim S, Kim C H, Park J H. Human-like arm motion generation for humanoid robots using motion capture database. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China: IEEE, 2006. 3486-3491[9] Calderon C A A, Mohan R E, Hu L Y, Zhou C J, Hu H S. Generating human-like soccer primitives from human data. Robotics and Autonomous Systems, 2009, 57(8): 860-869[10] Hu L Y, Zhou C J, Sun Z Q. Biped gait optimization using estimation of distribution algorithm. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots. Tsukuba, Japan: IEEE, 2005. 283-289[11] Hu L Y, Zhou C J, Sun Z Q. Biped gait optimization using spline function based probability model. In: Proceedings of the IEEE International Conference on Robotics and Automation. Orlando, USA: IEEE, 2006. 830-835[12] Kim J Y, Kim Y S. Walking pattern mapping algorithm using fourier fitting and geometric approach for biped humanoid robots. In: Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots. Paris, France: IEEE, 2009. 243-249[13] Huang Q, Yokoi K, Kajita S, Kaneko K, Arai H, Koyachi N, Tanie K. Planning walking patterns for a biped robot. IEEE Transactions on Robotics and Automation, 2001, 17(3): 280-289[14] Saidouni T, Bessonnet G. Generating globally optimized sagittal gait cycles of a biped robot. Robotica, 2003,21(2): 199-210[15] Acosta-Calderon C A, Hu H. Robot imitation: Body schema and body percept. Journal Applied Bionics and Biomechanics, 2005,2(3): 131-148[16] Teo K L, Jennings L S, Lee H W, Rehbock V. The Control Parameterization Enhancing Transform for Constrained Optimal Control Problems.The Journal of the Australian Mathematical Society, 1999, 40: 314-335[17] Zhong Qiu-Bo, Pan Qi-Shu, Hong Bing-Rong, Piao Song-Hao. Falling motion control of humanoid robot based on parametric optimum. Robot, 2009, 31(6): 594-598 (钟秋波, 潘启树, 洪炳镕, 朴松昊. 基于参数化最优的仿人机器人倒地运动控制. 机器人, 2009, 31(6): 594-598) }
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  • 收稿日期:  2010-12-08
  • 修回日期:  2011-05-17
  • 刊出日期:  2011-08-20

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