了解两人之间的交接动作,改进仿人机器人系统

Robin Rasch, S. Wachsmuth, Matthias König
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引用次数: 7

摘要

为了使个人机器人能够在人类空间中工作,机器人有必要支持日常任务,如移交物体。研究表明,机器人必须像人类一样移动和行为,以提高社会接受度。因此,有必要对人体运动进行研究和建模。本文对两人交接过程中手臂的运动进行了研究和分析,提取了交接过程中关节的基本运动、持续时间、角速度和线速度等特征。在本研究中,我们使用腕部、肘部和肩部的六轴惯性测量装置(陀螺仪和加速度计)来测量和评估运动。我们的研究结果显示了人类之间有两种扭曲肘部的动作模式。我们的研究结果为开发类人机器人系统或类人机械手的类人切换控制器提供了基础。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Understanding movements of hand-over between two persons to improve humanoid robot systems
To enable personal robots to operate in human spaces, it is necessary that robots support everyday tasks like handing over an object. Studies show that robots have to move and behave human-like, to improve social acceptance. Therefore, it is necessary to study and model human movements. This paper studies and analyses the movements of arms during hand-over between two persons in order to extract the characteristic features (elementary movements of joints, duration, angular and linear velocities, etc.). In the present study, we are using inertial measurement units with 6-axis (gyroscope and accelerometer) on wrist, elbow and shoulder to measure the movements and evaluate them. Our results show a general movement pattern for hand-overs between humans with two variants of twisting the elbow. The results of our study provide a basis for developing a human-like handover controller for humanoid robot systems or human like manipulators.
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