基于体感的机器人展示系统研究与开发  

Research and Development of Display System of Nao Humanoid Robot Based on Posture Perception

作　　者：赵姝颖[1] 徐文杰[1] 郑雪林[1] 田洪娜[1] 

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《机器人技术与应用》2012年第6期54-57,共4页Robot Technique and Application

基　　金："中央高校基本科研业务费(N110804005)"资助

摘　　要：利用微软开发的体态感知设备Kinect,获取进入目标区域的人物的体态信息,依据采集到的信息对机器人的关节变量进行计算,实现对传统的机器人逆运算求解方法的简化。为了得到更加准确的仿人机器人姿态信息,采用Kalman滤波的方法,对陀螺仪和加速度计获得的机器人姿态信息进行融合,实现仿人机器人对人动作的模仿。It gets the information of posture character entered into the target area by Kinect which is a body-aware devices developed by Microsoft, which calculates the robot joint variables based on the collected information. It simplifies the method for solving robot inverse operation and achieved robot NAO＇ s imitation of human action. In order to get a more accurate information of NAO robot pose, the paper also uses the Kalman filter to integrate the data measured by gyroscope and sensor in order to compensate for the drift of gyroscope during the measurement and the defect of accelerometer in the dynamic measurement, which achieves robot NAO＇ s imitation of human action

关 键 词：仿人机器人 体态感知 KALMAN滤波 姿态估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]