仿人机器人相似性运动研究进展

针对仿人机器人模仿人体运动问题, 从运动轨迹角度比较了基于运动解析方程方法与基于人体运动相似性方法的特点, 阐述了相似性运动系统基本结构, 分析了图像捕捉与处理、相似性特征处理、相似性运动约束与优化等模块功能, 阐述了相似性运动中的人体运动捕获与处理、运动关节解算、运动模型简化与重定向、关键姿势处理与相似度评价、关节空间位姿计算、动力学匹配约束等方面的研究现状, 最后提出了研究展望。

Research progress on similarity locomotion of humanoid robot

Aimed to the locomotion imitation problem of following human being on humand robot, this paper compared the method based on locomotion analytic equation to that one based on similarity human locomotion for designing the motion tracks of humanoid robot, which illustrated the basic structure of similarity locomotion system, the image capture and dealing, similarity feature dealing, locomotion constraint and optimization. It also described the research developments, including locomotion capturing and dealing, calculation of joints, locomotion simplified model and retargeting, key pose dealing and evaluation of similarity degree, space pose calculation of joint, dynamics march. Finally it showed the forecast and drew the conclusion.