Optimization and constraint method for humanoid robot to imitate human upper limb movements in real time
A robot and human body technology, applied in the fields of automation and human-computer interaction, which can solve problems such as software description of non-motion information processing, design and description of human motion data, etc.
Active Publication Date: 2016-08-17
SHANGHAI RO INTELLIGENT SYST
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Invention patent application (application publication number: CN102553250A) is an intelligent toy robot with motion imitation function, including a computer pre-installed with motion information processing software, a humanoid robot body, and a video acquisition and processing device installed on the humanoid robot body unit and robot motion control unit, but there is no further description of the motion information processing software
Summarizing the situation of the existing technical literature, all of them are the construction of the overall imitation system or application platform, and there is no in-depth method design and description for the optimization of human motion data, but reasonable and effective data optimization is important for the fidelity of humanoid robot motion imitation. promotion is crucial
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[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the protection scope of the present invention should not be limited thereby.
[0045] The flow chart of the method for the humanoid robot to imitate the upper limbs of the human body in real time in the embodiment of the present invention is as follows: figure 1 As shown, including the motion acquisition unit 1020, motion optimization unit 1030, and safety constraint unit 1040, the humanoid robot 1050 can be used to imitate the upper limb motion of the simulated object 1010 in real time and realistically. The overall process is as follows:
[0046] 1. The device 1021 used to capture human motion in the motion acquisition unit 1020 is a Microsoft Kinect sensor; the 3D position data of human joints captured by the device 1021 for capturing human motion generates joint angle data of upper limbs through inverse kinematics conversion 1022 , including the a...
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The invention discloses an optimization and constraint method of a humanoid robot for real-time imitating human upper limb movements, wherein an abnormal value of equipment is captured and mechanism is produced aiming to the human movements within limited view angle; the calculation method of robust regression algorithm is adopted; the movement tendency of the angles of shoulder joints and elbow joints are separately estimated; and the abnormal value is determined and the angles are fixed and optimized. According to the invention, the calculation method provided herein is simple and is easy to be realized; the data accuracy of human movement capture device within limited view angle is effectively improved; and the real-time and real imitation to human upper limb movements of the humanoid robot are realized.
Description
technical field [0001] The invention is an optimization and constraint method for a humanoid robot to imitate human upper limb movements in real time, belonging to the field of automation and human-computer interaction. Using this method can optimize the data captured by human motion capture devices with limited viewing angles, eliminate outliers, smooth motion trajectories, and realize real-time and realistic imitation of various human upper limb movements for humanoid robots. Background technique [0002] In order to make the actions of humanoid robots more vivid, it is necessary for them to imitate human actions, especially real-time and lifelike action imitation, so that the robot can get the love and attention of the participants in the human-computer interaction. Therefore, real-time action imitation is an important part of human-computer interaction. The current mainstream method is to use human motion capture equipment to capture motion, convert the captured 3D posi...
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IPC IPC(8): B25J3/00
Inventor 赵群飞朱特浩
Owner SHANGHAI RO INTELLIGENT SYST