面向仿生机器人的青蛙跳跃轨迹采集方法  

An Extraction Method of Frog Jumping Trajectory for Biomimetic Robot Design

作　　者：王猛[1] 臧希喆[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人技术及系统国家重点实验室,哈尔滨150001

出　　处：《北京邮电大学学报》2008年第4期37-41,52,共6页Journal of Beijing University of Posts and Telecommunications

基　　金：国家"863计划"项目(2006AA04Z245);长江学者和创新团队发展计划项目(IRT0423)

摘　　要：青蛙跳跃运动的轨迹和姿态变化规律是研究仿生机器人生物运动机理的基础,针对其运动信息难以获得的问题提出了一种空间运动轨迹提取方法.该方法能同时获取青蛙运动的侧视图和俯视图,在进行透视效果修正后,可得到关节点的三维坐标,并通过迭代方法降低了修正系数引起的误差.针对逐点逐帧分析造成计算量大的问题,建立了一套采集程序对图像进行处理,最终可输出青蛙各点位置、速度和加速度曲线及其各个关节角随时间的变化曲线.实验得到的运动信息及分析结果,可用于跳跃机器人的设计与控制.Considering that the trajectory and the stance of frog jumping movement are the basis of the research on the biological jumping mechanism of biomimetic robot design, a new method of trajectory extraction from animal＇s movement is presented. With the help of the proposal, views from both sides or from the top of the frog moving can be captured simultaneously. And the 3D information was obtained after the correction for the perspective effect and the reduction of error produced by coefficient. To overcome the shortcoming of large amount of calculation, a program is designed to deal with the video images. And finally the curve of the position, the velocity and the acceleration of each point and the angle of each joint of frog are exported. The results of experiment and analysis show that the new method could be employed to develop and control a jumping robot.

关 键 词：运动轨迹提取 透视效果修正 采集程序 青蛙跳跃 

分 类 号：TN911.22[电子电信—通信与信息系统]