一种利用人体测量学和生物力学数据评估类人机器人的方法

N. Thoma, James Holley, W. Verdeyen
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引用次数: 1

摘要

类人机器人是通才,通常缺乏可用于评估或比较机器人性能的具体任务或目标。通过标准化的、可推广的方法来评估类人机器人,可以衡量机器人在尚未定义的任务上的表现。来自人因设计指南的人体测量学和生物力学数据可以用作评估人类工程环境中仿人性能的基线。过去的仿人设计使用人体测量数据来定义其设计参数,但没有标准来评估仿人的性能。通过为类人机器人创建一个标准,机器人的能力可以不需要明确地测试每一个可以想象到的任务。nasa的Valkyrie机器人根据nasa星座计划人类系统集成要求的人体测量、运动范围、质量特性和强度数据进行了测试。机器人模型提供人体测量和运动范围数据,硬件测试收集质量比例和强度数据。根据使用的标准,瓦尔基里在59%的人体测量、64%的运动范围、13%的质量特性和35%的临界强度测量中都处于可接受范围内。根据人类系统建立的标准对类人机器人进行评估,可以定量衡量机器人在人类工程环境中的表现。这种方法可以推广到根据共同标准评估其他类人机器人。随着时间的推移,可以识别和重新评估人形设计中的失败或弱点。度量性能可以通过机器人控制、操作员技能和硬件重新设计的进步来改进。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A method for evaluating humanoid robots using anthropometric and biomechanical data
Humanoids are generalists, often lacking specific tasks or goals that can be used to evaluate or compare robot performance. Evaluating humanoids through a standardized, generalizable approach can yield a measure of robot performance on yet to be defined tasks. Anthropometric and biomechanical data from human factors design guides can be used as a baseline for evaluating humanoid performance in human-engineered environments. Past humanoid designs have used anthropometric data to define their design parameters, but no standard exists for evaluating humanoid performance. By creating a standard for humanoids, a robots capabilities can be characterized without explicitly testing every conceivable task. NASAs Valkyrie robot was tested against the anthropometric, range of motion, mass property, and strength data from NASAs Constellation Program Human-Systems Integration Requirements. The robot model offered anthropometric and range of motion data, and hardware tests were used to collect mass proportion and strength data. According to the standard used, Valkyrie fell within acceptable bounds for 59% of anthropometry, 64% of range of motion, 13% of mass property and 35% of criticality 1 strength measurements. Evaluating humanoids against the standards upon which human systems are built yields a quantitative measure of robot performance in human-engineered environments. This proposed approach can be generalized to evaluate other humanoids against a common standard. Failures or weaknesses in the humanoid design can be identified and reevaluated over time. Metric performance can be improved through advancements in robot control, operator skill, and hardware redesign.
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