基于动作基元的人臂达点运动模式

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...

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

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.