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Automatic shadow puppet arrangement method and system based on OpenPose model and robot kinematics

A robot kinematics and robot technology, applied in the field of robot interaction, can solve problems such as the lack of deeper capabilities, achieve the effect of reducing the time of arrangement and improving the efficiency of arrangement

Pending Publication Date: 2022-05-31
XIDIAN UNIV
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AI Technical Summary

Problems solved by technology

[0003] At present, some companies and colleges and universities have developed interactive technologies for shadow puppet robots. Most of them regard passive interaction as the execution of commands, and lack deeper capabilities, such as the method of choreographing robot shadow puppet movements.

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  • Automatic shadow puppet arrangement method and system based on OpenPose model and robot kinematics
  • Automatic shadow puppet arrangement method and system based on OpenPose model and robot kinematics
  • Automatic shadow puppet arrangement method and system based on OpenPose model and robot kinematics

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Embodiment Construction

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings, which are to explain rather than limit the present invention.

[0060] see figure 1 , an autonomous shadow puppet composition method based on the OpenPose model and robot kinematics, including the following steps:

[0061] Step 1. Establish an OpenPose model and train it to identify key nodes in human action pictures.

[0062] Specifically, the trained OpenPose model is used to identify the joint points of each frame of the human action image, and only three key nodes of the head, left hand, and right hand are retained.

[0063] see Figure 5 As shown, each frame of picture includes various joint points of the human body. Figure 5 It includes 0 to 17 joint points. In this embodiment, only three joint points of the head, left hand and right hand need to be reserved, and the corresponding serial numbers are 0, 4 and 7. The head, left hand and right hand of th...

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Abstract

According to the shadow puppet autonomous arrangement method and system based on the OpenPose model and the robot kinematics, skeleton points of a performance person are detected by adopting an OpenPose algorithm, key node coordinate points of actions are output, then the mapping relation between a shadow puppet robot and the actions of the performance person is determined, and the tail end coordinates of the shadow puppet robot are output according to the mapping relation; and finally, the execution angles of all joints of the shadow puppet robot are obtained through inverse kinematics of the robot, all the joints of the shadow puppet robot are controlled to move according to the execution angles, autonomous arrangement simulating human body postures is achieved, the time for automatically inputting angle arrangement can be greatly shortened, and the arrangement efficiency is improved.

Description

technical field [0001] The invention relates to a robot interaction method and system, in particular to an autonomous shadow puppet composition method based on an OpenPose model and robot kinematics. Background technique [0002] With the continuous development of human-computer interaction technology, there are more and more ways for shadow puppet robots to interact with people. The way people use human-computer interaction is to change the traditional "command-execution" mode of interaction and input. Using interactive technology, shadow puppet robots can be controlled for deeper applications. That is, the function of self-arrangement, to write action series. [0003] At present, most of the shadow puppet interaction technologies developed by some companies and colleges and universities regard interaction passively as the execution of commands, and lack deeper capabilities, such as the choreography of robot shadow puppet movements. SUMMARY OF THE INVENTION [0004] Aim...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G10H1/00
CPCG10H1/0025G10H2210/101
Inventor 王新怀赵赫崔鑫胡俊杰
Owner XIDIAN UNIV
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