Upper-limb motion imitation method and apparatus, robot, and computer program product

Abstract

An upper-limb motion imitation method and apparatus, a robot, and a computer program product. The method comprises: a robot acquiring a first pose corresponding to an upper-limb key point of an imitated subject (S101); converting the first pose into a second pose corresponding to an upper-limb key point of the robot (S102); on the basis of the second pose corresponding to the upper-limb key point of the robot and by means of hierarchical quadratic programming, determining target angles corresponding to joints of the upper limbs of the robot (S103); and on the basis of the target angles corresponding to the joints of the upper limbs of the robot, controlling the robot to perform motion imitation (S104). The method improves the similarity and stability of motion imitation of a robot, thereby improving the imitation effect of the robot.

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