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作 者:李思敏 姜喜胜 吉祥 梁国祥 李清都 LI Simin;JIANG Xisheng;JI Xiang;LIANG Guoxiang;LI Qingdu(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
机构地区:[1]上海理工大学光电信息与计算机工程学院,上海200093 [2]上海理工大学机械工程学院,上海200093
出 处:《智能计算机与应用》2024年第12期1-9,共9页Intelligent Computer and Applications
基 金:国家自然科学基金(92048205)。
摘 要:本文旨在探索一种将操作者上半身运动重定向至人形机器人上半身的动作模仿方法。首先,利用动作捕捉系统获取人体运动信息,然后实时将任务空间中双臂手腕的位姿信息重定向至机器人手腕,并在速度层面构建二次规划问题求解各关节角速度,以再现双臂运动。然而,针对仅依据手腕信息求解出的手肘角度可能不满足期望要求的问题,本文利用双臂的冗余特性,在运动过程中进行关节构型优化。因此本文基于手腕和手肘处的位姿信息提出一个基于零空间的、具有严格任务优先级的分层二次规划算法,以提高人机动作的匹配度。该算法不仅具有多任务处理能力,相较传统二次规划方法还能同时跟踪期望的手腕和手肘端位姿目标值,且在计算时间上提高了71%。最后,在MuJoCo仿真平台上进行机器人模仿操作者动作的实验,结果表明,该方法能显著提升人机动作模仿的实时性和自然度。The aim of this paper is to explore a way of retargeting the motion of the operator's upper hemisphere to the upper hemisphere of the humanoid robot.Firstly,the paper uses the motion capture system to obtain human motion information,then retarget the human posture information of the wrists in the task space to the robot wrists in real time,and build a quadratic problem at the speed level to solve the angular velocity of the joints to reproduce the motions of the arms.However,in cases where the angle of the elbow,based purely on wrist information,does not match expectations,this paper employs the redundant properties of the arms to optimize the joint structure during motion.Therefore,this paper proposes a hierarchical quadratic programming algorithm based on the null-space formulation with strict task prioritization,which takes the posture information of the wrist and elbow as input,aiming to improve the retargeting accuracy between human and robot motions.Compared with the traditional quadratic programming method,this algorithm not only has the ability of multi-tasking,but also tracks the desired wrist and elbow posture target values at the same time,and the calculation time is increased by 71%.Finally,experiments of robotic imitation of the operator's motions are conducted on the MuJoCo simulation platform,and the results demonstrate that the proposed method significantly enhances the real-time performance and naturalness of the human-robot motion imitation.
关 键 词:分层二次规划 零空间 多任务 动作模仿 人形机器人
分 类 号:TP242[自动化与计算机技术—检测技术与自动化装置]
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