基于图像的抗干扰机器人汉字书写系统

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-01-22 DOI:10.1017/s0263574724000018
Xian Li, Chenguang Yang, Sheng Xu, Yongsheng Ou
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引用次数: 0

摘要

本文设计了一种能抵御人为随机干扰的机器人汉字书写系统。首先,设计了一种创新的汉字笔画提取方法。基于累积方向向量的基本汉字笔画提取方法用于提取构成汉字笔画的成分。然后,根据顺序基本笔画连接方法将这些组件拼接成笔画。为了让机器人能够模仿手写汉字的技能,我们利用笔画信息作为示范,并使用动态运动基元(DMP)对技能进行建模。为了抑制人为的随机干扰,本文将改进的 DMP 与电导控制相结合,根据实时视觉测量结果调整机器人的运动轨迹。实验结果表明,所提出的方法能准确提取大多数汉字的笔画。与直接旋转和平移曲线相比,所设计的轨迹调整方法具有更好的平滑性和鲁棒性。机器人能够实时调整姿态和轨迹,消除人为干扰带来的负面影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Image-based anti-interference robotic Chinese character writing system

This article designs a robotic Chinese character writing system that can resist random human interference. Firstly, an innovative stroke extraction method of Chinese characters was devised. A basic Chinese character stroke extraction method based on cumulative direction vectors is used to extract the components that make up the strokes of Chinese characters. The components are then stitched together into strokes based on the sequential base stroke joining method. To enable the robot to imitate handwriting Chinese character skills, we utilised stroke information as the demonstration and modelled the skills using dynamic movement primitives (DMPs). To suppress random human interference, this article combines improved DMPs and conductance control to adjust robot trajectories based on real-time visual measurements. The experimental results show that the proposed method can accurately extract the strokes of most Chinese characters. The designed trajectory adjustment method offers better smoothness and robustness than direct rotating and translating curves. The robot is able to adjust its posture and trajectory in real time to eliminate the negative impacts of human interference.

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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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