Humanoid Robot Imitation Learning Based on COM Correction and Compensation [基于质心校正补偿的仿人机器人模仿学习] - 文章详情页

作者：

Yu, J. (Yu, J..) | Zhang, Y. (Zhang, Y..) (学者：张勇) | Zuo, G. (Zuo, G..) | Ruan, X. (Ruan, X..) | Wu, P. (Wu, P..)

收录：

Scopus PKU CSCD

摘要：

Since　humanoid　robot　has　high　degrees　of　freedom　and　redundant　structure,so　the　motion　planning　is　complicated　when　facing　different　environments.　In　this　paper,kinect　was　used　to　collect　human　motion　information　as　teaching　data　to　conduct　the　imitation　of　human　motion.　The　motion　planning　of　humanoid　robot　was　simplified.　To　maintain　the　balance　of　robot　in　the　process　of　motion,a　method　was　proposed　to　compensate　the　robot＇s　center　of　mass　(COM):　estimate　the　deviation　of　mass　center　through　teaching　dat　was　estimated,　and　the　calculation　of　angle　compensation　through　Jacobian　was　conducted　and　quadratic　programming　for　optimization　was　optimized.　The　experiment　of　imitation　system　based　on　robot　Nao　indicates　that　the　method　of　COM　compensation　ensures　the　balance　in　the　process　of　imitation,　the　quadratic　programming　can　effectively　ensure　the　similarity　of　motion　imitation.　©　2018,　Editorial　Department　of　Journal　of　Beijing　University　of　Technology.　All　right　reserved.

关键词：

Center of mass prediction; Humanoid robot; Imitation learning; Jacobian matrix; Motion transfer

作者机构：

[ 1 ] [Yu, J.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 2 ] [Yu, J.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
[ 3 ] [Zhang, Y.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 4 ] [Zhang, Y.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
[ 5 ] [Zuo, G.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 6 ] [Zuo, G.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
[ 7 ] [Ruan, X.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 8 ] [Ruan, X.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
[ 9 ] [Wu, P.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 10 ] [Wu, P.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China

通讯作者信息：

[Zuo, G.]Faculty of Information Technology, Beijing University of TechnologyChina

电子邮件地址：

zuoguoyu@bjut.edu.cn

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