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Human imitation robot action similarity evaluation based on human body motion track

A technology of human movement and robotics, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as differences, and achieve the effect of simple algorithms and easy implementation

Inactive Publication Date: 2006-09-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
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Problems solved by technology

However, in the process of performing the above matching algorithm, there will also be differences with the human action prototype, and it is necessary to solve the problem of obtaining a motion trajectory with a high similarity with the human action on the basis of satisfying the constraint conditions of the humanoid robot

Method used

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  • Human imitation robot action similarity evaluation based on human body motion track
  • Human imitation robot action similarity evaluation based on human body motion track
  • Human imitation robot action similarity evaluation based on human body motion track

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Embodiment Construction

[0021] The contact constraint between the humanoid robot foot and the ground is a key issue for the movement of the humanoid robot. Because the length of the humanoid robot leg is not proportional to the human skeleton, the ground contact constraint is often not satisfied, resulting in slipping, The occurrence of problems such as stepping into the air and falling into the air. Humanoid robots have two support phases in motion: single-leg support and double-leg support. When the humanoid robot is in the process of going from single-leg support to double-leg support, the swinging foot should land on the ground in the planned position and direction. In the case of stepping on the air, the foot is in the air. Conversely, the foot is below the surface of the ground during plunge. In the double-leg support stage, the two feet should be fixed on the ground and there should be no sliding. However, when the obtained human joint angle data is directly applied to the humanoid robot, th...

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Abstract

A method based on the moving traces of human body for evaluating the action similarity of a human body-shaped robot comprises such 4 areas as extracting the moving data of human body, kinematic match, dynamic match and experiment. An action similarity evaluating function is disclosed for the calculations in kinematic match and dynamic match.

Description

Technical field: [0001] The invention relates to a method for evaluating the similarity of motion of a humanoid robot based on a motion track of a human body, and belongs to the field of robot technology and automation. Through this method, the humanoid robot action with high similarity to the human body action can be effectively designed, and the motion control of the humanoid robot imitating the human body action can be realized. Background technique: [0002] In order to make the humanoid robot perform actions or realize some kind of operation behavior, it is necessary to design and plan the movement of the humanoid robot, so as to control the motion of the humanoid robot. At present, the motion planning of humanoid robots mostly adopts the motion analysis method. This method simplifies the model of the humanoid robot, establishes the analytical equation of motion, and solves the motion trajectory to obtain the trajectory of each joint of the humanoid robot, so as to con...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
Inventor 黄强赵晓军彭朝琴张利格杨洁
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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