Human-robot collaborative motion interaction control method and device and storage medium

By constructing a causal graph of joint nodes and a human-machine coupling graph neural network model, the problem of insufficient causal relationship adaptation in existing human-machine coupling modeling is solved, and the prediction accuracy and computational efficiency of dynamic motion states are improved.

CN122401428APending Publication Date: 2026-07-17YOUDI ROBOT (WUXI) CO LTD
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Patent Information

Application Number
CN202610817751.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-06-05
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing human-machine coupling modeling methods rely on fixed joint association modeling, which makes it difficult to adapt to real motion causal relationships, resulting in insufficient accuracy in predicting dynamic motion states.

Method used

Construct a causal graph of the joint nodes, build a human-machine coupled graph neural network model based on the causal graph, acquire multimodal perception data and fuse motion feature vectors and semantic feature vectors to determine control parameters.

Benefits of technology

By accurately identifying the direct causal driving path of human biomechanical logic, the collaborative coupling effect of joint nodes under complex dynamic tasks is optimized, thereby improving the accuracy of state prediction.

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Abstract

本申请公开了一种人机协同运动交互控制方法、设备及存储介质，涉及人机交互与智能机器人控制技术领域。上述方法根据关节节点的状态值，构建关节节点的因果图谱；基于因果图谱构建人机耦合图神经网络模型；获取多模态感知数据，将多模态感知数据的运动特征向量和语义特征向量融合，以获得融合后的意图特征向量；将意图特征向量作为人机耦合图神经网络模型的输入，得到人机耦合图神经网络输出的关节耦合状态序列；基于关节耦合状态序列确定控制参数，优化了复杂动态任务下各关节节点的协同耦合效果，提升了状态预测的准确性。
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