仿人机器人复杂动态动作设计及相似性研究  

Design of Humanoid Complicated Dynamic Motion with Similarity Considered

作　　者：张利格[1] 黄强[1] 杨洁[1] 时有[1] 王志杰[1] JAFRI Ali Raza 

机构地区：[1]北京理工大学机电工程学院智能机器人研究所,北京100081

出　　处：《自动化学报》2007年第5期522-528,共7页Acta Automatica Sinica

基　　金：国家863计划(2003AA420010)资助项目~~

摘　　要：提出了一种基于人体运动的考虑节奏相似性的仿人机器人复杂动态动作设计方法．首先,把人体的运动分割成基本动作段,给出了运动学约束,讨论了复杂动态动作的稳定性调节方法．然后,提出了考虑运动节奏的仿人机器人模仿人体动作的相似性函数,并给出了满足运动学约束和动力学稳定性、具有高相似性的运动轨迹求解方法．最后,通过在仿人机器人BHR-2上进行中国功夫“刀术”实验验证了该方法的有效性．This paper explores a method of designing humanoid motion with rhythm considered based on human motion capture. Firstly, human motion is segmented into primitive motions. Secondly, the kinematics constraints and stability adjustment method are formulated. Thirdly, the similarity evaluation with rhythm considered is made, and a method to derive humanoid motion with high similarity is presented. Finally, an experiment of Chinese swordsmanship was performed using our developed humanoid robot BHR-2 to illustrate the effectiveness of this method.

关 键 词：仿人机器人 相似性 节奏 动力学稳定性 运动学约束 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]