一种基于引导点和协同点不间断切换的灵巧类人机器人导航方法

T. Sugihara, H. Kobayashi
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引用次数: 11

摘要

提出了一种方便的仿人机器人导航方案。该机器人的全身运动由输入装置手动引导的身体部位的运动和协同协调的身体部位的运动来编排。即使使用简单的输入设备,如操纵杆,也可以通过切换直接引导点而不中断地实时实现各种运动。保证运动完成的关键技术是在一组一致的子目标中设计一个从开始到结束有持续时间的运动段。在此基础上,提出了一种带有操纵杆的人机交互导航系统。通过仿真和实际机器人操作验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A handy humanoid robot navigation by non-interruptive switching of guided point and synergetic points
A handy humanoid robot navigation scheme is proposed. The whole-body motion of the robot is orchestrated from a motion of a manually guided body part by an input device and that of synergetically coordinated body parts. Even though a simple input device such as a joystick is used, a variety of motions are realized in realtime by switching the directly-guided point without interruptions. The key technique to guarantee the motion achievement is to design a motion segment with a duration from the beginning to the termination from a set of consistent subgoals. An interactive humanoid navigation system with a joystick is presented based on the scheme. The validity of the proposed method is shown through both simulation and real robot operations.
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