基于动作基元的人臂达点运动模式  

Motion Pattern of Human Arm Reaching Point Movements Based on the Movement Primitives

作　　者：赵京[1] 王承运 张自强[1] 龚世秋 ZHAO Jing;WANG Chengyun;ZHANG Ziqiang;GONG Shiqiu(Faculty of Materials and Manufacturing,Beijing University of Technology,Beijing 100124)

机构地区：[1]北京工业大学材料与制造学部,北京100124

出　　处：《机械工程学报》2021年第19期70-78,共9页Journal of Mechanical Engineering

基　　金：北京市自然科学基金(3192002);国家自然科学基金(51975008)资助项目。

摘　　要：为揭示人臂达点运动中人臂末端位置、姿态和自摆角的运动协调关系,实现机器人的深度仿人运动规划,对人臂达点运动的运动模式进行了研究。将人臂动作基元的排列与组合方式定义为人臂达点运动的运动模式,进行了3240次人臂达点运动实验数据采集与处理,分析了达点运动阶段和达点区域对运动模式的影响;提出了基于基元类型、次序变化、运动模式频率以及基元连接方式频率约束的运动模式相似度指标——复合约束相似度,并以此优选出了人臂达点运动的最优运动模式;基于这一运动模式,利用7自由度拟人机械臂复现了人臂的达点运动。In order to reveal the coordination relationship between swivel angle, position and posture of the end of the human arm, and to realize the robot’s deep human-like motion planning, the motion pattern of the human arm reaching point movement was studied.The arrangement and combination of the movement primitives of the human arm were defined as the motion pattern of the human arm reaching point movement. The experimental data collection and processing of 3240 human arm reaching point were carried out, and the influence of the movement phases and the region of the reaching point on the motion pattern was analyzed. Compound constraint similarity, an index of motion pattern similarity based on constraint of primitive type, order change, frequency of motion pattern and frequency of connection mode of primitive, was proposed, and the optimal motion pattern of human arm reaching point was optimized.Based on this motion pattern, the reaching point movement of the human arm is reproduced by using a 7-DOF anthropomorphic robotic arms.

关 键 词：动作基元 达点运动 人机交互 运动模式相似度 仿人运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]