基于人体运动的仿人型机器人动作的运动学匹配

被引：36

作者：

赵晓军

黄强

彭朝琴

张利格

李科杰

机构：

[1] 北京理工大学机电工程学院

来源：

关键词：

仿人型机器人; 运动捕捉; 运动学匹配; 相似性; 地面接触条件;

D O I：

10.13973/j.cnki.robot.2005.04.015

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

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.

引用

页码：358 / 361+379 +379

页数：5

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