一类具有相同结构的表情机器人共同注意方法  

Joint Attention for a Kind of Facial Expression Robots with the Same Structure

作　　者：王巍[1] 王志良[2] 郑思仪[1] 谷学静[1] 

机构地区：[1]北京科技大学自动化学院,北京100083 [2]北京科技大学计算机与通信工程学院,北京100083

出　　处：《机器人》2012年第3期265-274,共10页Robot

基　　金：国家863计划资助项目(2007AA04Z218);国家自然科学基金资助项目(61170117);北京市教育委员会重点学科共建项目(XK100080537)

摘　　要：为了提高使用者与机器人人机合作过程中的社交和认知能力,针对一类具有相同结构的表情机器人,提出了一种基于静态视觉的人机共同注意实现方法.首先,获取使用者注意焦点的影像像素坐标和焦点到摄像机的距离;其次,通过坐标系变换,求解使用者注意焦点的世界坐标;再次,基于几何法求解机器人本体运动学逆解;最后,根据求得的关节角控制舵机,实现人机共同注意.通过仿真与物理平台的实验,验证了方法的有效性和准确性,为人机交互与合作中共同注意的实现提供了解决方案.In order to improve the abilities of social interaction and cognition in human-robot cooperation between the user and the robot, a static vision based joint attention skill is implemented for a kind of facial expression robots with the same structure. Firstly, the image pixel coordinate of the user＇s attention focus and the distance between the focus and the video camera are acquired. Secondly, world coordinate of the user＇s attention focus is solved with coordinate transformation technology. Thirdly, inverse kinematics of the robot body is computed based on geometry method. Fourthly, servo motors are controlled with joint angle acquired above to realize human-robot joint attention. Some experiments are carried out on simulation and physical platform at last to verify the effectiveness and accuracy of the proposed method. It provides a solution for realizing joint attention skill in human-robot interaction and cooperation.

关 键 词：人机共同注意 针孔模型 逆运动学 表情机器人 社交与认知 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]