智能系统学报2012，Vol.7Issue(6)：501-505,5.DOI:10.3969/j.issn.1673-4785.201209023
基于HMCD的仿人机器人单杠运动控制策略
HMCD-based dynamic motion control strategy of humanoid robot on a horizontal bar
摘要
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 humans motion on the horizontal bar, the key feature points'analysis of the humanoid robot model and the joint angles 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.关键词
单杠运动/HMCD/运动规划/仿人机器人Key words
dynamic motion on a horizontal bar/HMCD/motion-planning/humanoid robot分类
信息技术与安全科学引用本文复制引用
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(6):501-505,5.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). （PHR201008434,PHR201106131,PHR201107218）
