Robot real-time simulation method

A robot and machine technology, applied in the field of intelligent robots, can solve expensive problems and achieve low cost, simple operation and high stability

Active Publication Date: 2017-05-03
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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Embodiment Construction

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0059] The working principle of this technical solution is as follows: figure 1 Shown is a schematic diagram of the working principle of the technical solution. This technical solution uses sensors to obtain the skeleton of human body motion through the computer calling API, and obtains human motion data by using the skeleton information. Use these motion data to obtain joint angle data, and transmit them to the robot through wifi or cable. The robot uses the...

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Abstract

The invention relates to a robot real-time simulation method. The robot real-time simulation method comprises the steps of: obtaining all joint positions for human body actions, calculating direction vectors between adjacent human body joints by using all the joint positions for human body actions, and matching the direction vectors between the adjacent human body joints with corresponding direction vectors between adjacent robot joints to obtain a target angle needing to be moved by a robot. The technical scheme maps human body information detected by a sensor onto the robot and enables the robot to perform similar actions through applying kinematic inverse solution and LP optimization methods and using a Bezier curve fitting trajectory, and meanwhile, can consider the balance problem so as to enable the robot to simulate other high-difficulty actions. The method is simple in operation, relatively low in cost and high in stability.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a real-time imitation method for a robot. Background technique [0002] At present, humanoid robots are attracting more and more attention from the public due to their anthropomorphic appearance and powerful programmability. The NAO robot produced by the French company Aldebaran-Robotics is just one of them. [0003] The NAO robot has a human-like appearance, with a total of 25 degrees of freedom in the whole body. Among them, each arm of the NAO robot has six degrees of freedom, two legs have eleven degrees of freedom, and the head has two degrees of freedom. This kind of robot is becoming more and more popular among the public because of its cute appearance. [0004] At present, the imitation systems based on humanoid robots are not particularly sound, and most of them stay at the level of hard-coding the robots. The existing method is as follows: firstly set some...

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Application Information

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IPC IPC(8): B25J11/00
Inventor 胡建兵邢为之王志扬欧勇盛
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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