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Human body rotating and displacement mapping method applied to humanoid robot

A humanoid robot and displacement mapping technology, which is applied in the fields of human-computer interaction and robot control, can solve the problems of inconvenient operation, high requirements for balance control of humanoid robots, and cumbersome teaching process, etc., and achieve the effect of convenient operation

Active Publication Date: 2018-11-23
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

Among them, the gait imitation method can better restore the gait of the teacher, but the teaching process is more cumbersome, the balance control requirements for the humanoid robot are high, and the operation is not convenient enough; The displacement is mapped to the humanoid robot, so that the humanoid robot completes the spatial movement with a preset gait, and the operation is convenient, but the existing application does not consider the change of the human body's torso orientation during the spatial movement

Method used

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  • Human body rotating and displacement mapping method applied to humanoid robot
  • Human body rotating and displacement mapping method applied to humanoid robot
  • Human body rotating and displacement mapping method applied to humanoid robot

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Embodiment

[0050] A body rotation and displacement mapping method applied to humanoid robots using Kinect II as a depth camera, as in figure 1 As shown, the method includes the following steps:

[0051] S1. Obtain the three-dimensional position information of the human bone nodes through the depth camera, including the information of the limbs and the joint points of the spine. The name and number of each bone node are as follows: figure 2 shown;

[0052] S2. Establish the bone vector according to the three-dimensional position information of the human bone node, set in the depth camera coordinate system, the bone vector pointing from one bone node to another bone node is or Among them, P represents the previous effective frame of the depth camera, C represents the current effective frame of the depth camera, a is the number of the bone node at the beginning of the vector, and b is the number of the bone node at the end of the vector. From this, the bone vector from the left hip to...

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Abstract

The invention discloses a human body rotating and displacement mapping method applied to a humanoid robot. The human body rotating and displacement mapping method comprises the following steps that (1) three-dimensional position information of skeletal joints of a human body is obtained through a depth camera; (2) the skeletal vector from a left hip to a right hip is constructed according to the skeletal joints of the human body; (3) the constructed skeletal vector is projected to the horizontal plane; (4) the rotating angle and direction of the human body are calculated according to the skeletal vector projected to the horizontal plane; (5) the displacement in a human body base coordinate system is calculated according to skeletal joints at the bottom of a spine and the skeletal vector projected to the horizontal plane; and (6) the calculated rotating angle and direction and the calculated displacement in the human body base coordinate system are applied to the humanoid robot. According to the human body rotating and displacement mapping method, human body rotating and displacement are mapped to the humanoid robot through the skeletal joints of the human body and the skeletal vector, and the human body rotating and displacement mapping method has the characteristics of easy and convenient operation and high real-time performance.

Description

technical field [0001] The invention relates to the technical fields of robot control and human-computer interaction, in particular to a human body rotation and displacement mapping method applied to a humanoid robot. Background technique [0002] In recent years, robot technology has developed rapidly and has been more and more widely used in fields such as industry, medical treatment, scientific research, education and training, and family daily life. At the same time, more and more diverse application environments and more complex robot structures put forward higher requirements for robot control. The development of robot imitation technology provides a new type of robot control method, which improves the efficiency of robot programming and frees developers from the heavy programming work. Robot imitation technology enables the robot to imitate the behaviors of the teacher, such as body movements and spatial movement, and spatial movement is the key to controlling the ro...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/161B25J9/1612B25J9/1633B25J13/00
Inventor 张智军牛雅儒王浩
Owner SOUTH CHINA UNIV OF TECH
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