共查询到15条相似文献,搜索用时 562 毫秒
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从仿生学角度分析了人体的步行运动规律,提出了一种基于人体运动规律的仿人机器人步态参数设定方法.首先对人体步行运动数据进行捕捉并分析,得出人体各步态参数间的函数关系,以人体步行相似性作为评价指标,提出仿人机器人步态参数的设定方法.其次,通过分析人体在步行过程中的补偿支撑脚偏航力矩的基本原理,提出了基于双臂及腰关节协调运动的仿人机器人偏航力矩补偿算法,以提高仿人机器人行走的稳定性.最后通过仿真及实验验证了所提出的步态规划方法的正确性及有效性. 相似文献
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Zulkifli Mohamed Mitsuki Kitani Shin-ichiro Kaneko Genci Capi 《International Journal of Control, Automation and Systems》2014,12(4):870-877
As humanoid robots are expected to operate in human environments they are expected to perform a wide range of tasks. Therefore, the robot arm motion must be generated based on the specific task. In this paper we propose an optimal arm motion generation satisfying multiple criteria. In our method, we evolved neural controllers that generate the humanoid robot arm motion satisfying three different criteria; minimum time, minimum distance and minimum acceleration. The robot hand is required to move from the initial to the final goal position. In order to compare the performance, single objective GA is also considered as an optimization tool. Selected neural controllers from the Pareto solution are implemented and their performance is evaluated. Experimental investigation shows that the evolved neural controllers performed well in the real hardware of the mobile humanoid robot platform. 相似文献
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This study develops a face robot with human-like appearance for making facial expressions similar to a specific subject. First, an active drive points (ADPs) model is proposed for establishing a robotic face with less active degree of freedom for bipedal humanoid robots. Then, a robotic face design method is proposed, with the robot possessing similar facial appearance and expressions to that of a human subject. A similarity evaluation method is presented to evaluate the similarity of facial expressions between a robot and a specific human subject. Finally, the proposed facial model and the design methods are verified and implemented on a humanoid robot platform. 相似文献
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Mimicking human motion with a humanoid robot is essential for allowing humanoid robots to be used in service applications.
Simply creating motions without considerations for balance and stability or directly copying motion from a human using motion
capture and implementing it on a humanoid robot may not be successful because of the difference in physical properties between
the human and the humanoid robot, which may cause instability and make it fall. Using the Zero Moment Point as the stability
criteria, this work proposes a Constrained Analytical Trajectory Filter as part of an Analytical Motion Filter, which stabilizes
a reference motion that can come from human motion capture data, kinematic synthesis, or animation software. The resulting
solutions used in the Constrained Analytical Trajectory Filter provide insight into the complex interactions of motion and
stability. The solutions were verified in simulation and with hardware, showing that the analytical filter can be successfully
applied for stabilizing reference motions for humanoid robots which may be unstable otherwise. 相似文献
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This paper presents the new application of a humanoid robot as an evaluator of human-assistive devices. The reliable and objective evaluation framework for assistive devices is necessary for making industrial standards in order that those devices are used in various applications. In this framework, we utilize a recent humanoid robot with its high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of robot’s mechanical properties. We also show two approaches to estimate supporting torques from the sensor data, which can be used properly according to the situations. With the general formulation of the wire-driven multi-body system, the supporting torque of passive assistive devices is also formulated. We evaluate a passive assistive wear ‘Smart Suit Lite (SSL)’ as an example of device, and use HRP-4 as the humanoid platform. 相似文献
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This study proposes a quantitative evaluation method for assessing active wearable assistive devices that can efficiently support the human body. We utilize a humanoid robot to simulate human users wearing assistive devices owing to various advantages offered by the robot such as quantitative torque measurement from sensors and highly repeatable motion. In this study, we propose a scheme for estimating the supportive torques supplied by a device called stationary torque replacement. To validate the reliability of this evaluation method by using a humanoid robot, we conducted measurements of human muscular activity during assisted motion. Analysis of the measured muscle activity revealed that a humanoid robot closely simulates the actual usage of assistive devices. Finally, we showed the feasibility of the proposed evaluation method through an experiment with the humanoid robot platform HRP-4 and the Muscle Suit active assistive device. With the proposed method, the supportive effects of the assistive device could be measured quantitatively in terms of the static supportive torque acting directly on the body of a simulated human user. 相似文献