基于人体运动的仿人型机器人动作的运动学匹配

Kinematics Mapping of Humanoid Motion Based on Human Motion

摘要: 提出了仿人型机器人模仿人体运动的相似性函数，讨论了运动学约束，并给出了满足运动约束条件且具有与人体动作高相似性的运动求解算法．在有33个自由度的仿人型机器人实体上完成了模仿人的太极拳动作，验证了方法的有效性．

Abstract: Firstly, the similarity function of the humanoid motion is proposed. Then, the kinematic constraints are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment on Chinese "Taijiquan" using our self-developed 33 DOF humanoid robot.