[1]陈雯柏,高世杰,吴细宝.基于HMCD的仿人机器人单杠运动控制策略[J].智能系统学报,2012,7(06):501-505.
 CHEN Wenbai,GAO Shijie,WU Xibao.HMCD based dynamic motion control strategy of humanoid robot on a horizontal bar[J].CAAI Transactions on Intelligent Systems,2012,7(06):501-505.
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基于HMCD的仿人机器人单杠运动控制策略(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第7卷
期数:
2012年06期
页码:
501-505
栏目:
学术论文—智能系统
出版日期:
2012-12-25

文章信息/Info

Title:
HMCD based dynamic motion control strategy of  humanoid robot on a horizontal bar
文章编号:
1673-4785(2012)06-0501-05
作者:
陈雯柏高世杰吴细宝
北京信息科技大学 自动化学院,北京 100192
Author(s):
CHEN Wenbai GAO Shijie WU Xibao
School of Automation, Beijing Information Science and Technology University, Beijing 100192, China
关键词:
单杠运动HMCD运动规划仿人机器人
Keywords:
dynamic motion on a horizontal bar HMCD motionplanning humanoid robot
分类号:
TP18;TN92
文献标志码:
A
摘要:
为完成仿人机器人单杠运动,分析了欠驱动单杠机器人Acrobot模型,并根据IHOG技术要求、实物机器人本体结构和自由度配置,提出了基于 HMCD的控制策略.通过单杠视频捕捉获取人体运动数据,根据仿人机器人模型分析关键特征点、基本动作的运动数据得到的关键帧的关节角数据,经过运动学约束调整, 采用插值方法生成能够应用于仿人机器人的运动轨迹.在MF1型仿人机器人单杠实物平台上进行控制实验的成功,验证了该方法的有效性.
Abstract:
Aiming at the movement implementation of a humanoid robot on a horizontal bar, the control strategy based on HMCD (human motion capture data) is proposed in this paper. The Acrobot model, its physical structure, the degree of freedom and the technical requirements of International Humanoidrobot Olympic Games (IHOG) were analyzed for the robot on a horizontal bar. The key steps of this dynamic motion strategy are motion data capture through the video of human’s motion on the horizontal bar, the key feature points’ analysis of the humanoid robot model and the joint angle’s kinematic data match in the basic movements. After making the appropriate adjustments due to the kinematic constraints, an interpolation method was used to generate the motion trajectory of all the joints. The experimental results, based on MF1 type humanoid robot on the horizontal bar indicate that the proposed method is feasible and effective.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2012-09-11.
网络出版日期:2012-11-16 
基金项目:北京市属高校人才强教深化计划资助项目(PHR201008434,PHR201106131,PHR201107218).
通信作者:陈雯柏.
E-mail:chenwb03@126.com.
作者简介:
陈雯柏,男,1975年生,博士,主要研究方向为机器人控制与无线传感器网络通信.主持完成北京市教委科技发展项目1项, 2009入选北京市属高等学校中青年骨干人才计划.发表学术论文多篇. 
高世杰,男,1990年生,主要研究方向为计算机虚拟现实与仿真.  
吴细宝,男,1979年生,主要研究方向为机器人控制与传感器技术,主持完成北京市教委科技发展项目1项.
更新日期/Last Update: 2013-03-19