仿人型服务机器人双臂动作示教及评估研究

目的 基于自主研发的仿人型双臂服务机器人,研究体感示教及动作再现技术,并评估机器人拟人动作的合理性.方法 首先根据机器人的构型,利用D-H法对机器人进行运动学建模.然后设定6种日常生活中常见的人体上肢动作,利用Kinect V2动作捕捉设备获取真人演示动作数据,将臂形角作为冗余量进行运动学逆解,求得机器人所需关节角,使机器人能够复现人体动作.之后基于恐怖谷理论,结合层次分析法和语义分析法,提出评估方法,评估机器人复现的动作.结果 机器人以拟人的姿态复现了人体示教动作,评估结果显示,不同类型的动作会让受试者产生不同的心理感受.结论 对于仿人型双臂服务机器人而言,体感示教是一种自然高效的示教方式,由此产生的行为符合用户心理预期,为服务机器人融入日常生活提供了理论依据.

Teaching and Evaluation of Dual Arm Action of Humanoid Service Robot

The work aims to study the somatosensory teaching and motion reproduction technology, and evaluate the rationality of humanoid action of the robot based on the self-developed humanoid dual-arm service robot. Firstly, according to the configuration of the robot, thekinematic model of the robot is established by D-H method. Then, set six kinds of common upper limb movements in daily life, use Kinect V2 motion capture device to obtain real-life demonstration motion data, perform kinematic inverse solution with arm angle as redundancy to obtain the required joint angle of the robot, and make the robot can reproduce the human action. After that, based on the theory of Uncanny Valley, combined with the Analytic Hierarchy Process (AHP) and the Semantics Differential (SD), the evaluation method is proposed to evaluate the repetition action of the robot. The results show that the robot reproduces the teaching action of human body in a humanoid posture. The evaluation results show that different types of actions will make the subjects have different psychological feelings. For humanoid dual-arm service robot, somatosensory teaching is a natural and efficient way of teaching. The resulting behavior meets the psychological expectation of the user, which providesa theoretical basis for the service robot to integrate into daily life.