机构地区: 广东石油化工学院
出 处: 《广东石油化工学院学报》 2014年第6期34-38,共5页
摘 要: 文章主要阐述了基于人体运动相似性的仿人机器人动作规划系统的基本组成。首先,定义了异构形态下的相似性运动特点;其次,以卡耐基梅隆大学和哈尔滨工业大学的人体运动捕获系统为例,分析了人体运动捕获系统的特点;再次,分析了仿人机器人运动稳定性ZMP(Zero moment point)约束;最后阐述了仿人机器人实验平台。 The basic components of motion planning system based on locomotion similarity are illustrated. Firstly,the similarity features in the neterogeny state are defined. Secondly,the capturing system is analyzed by taking the capturing systems of Carnegie-Mellon University and Harbin Institute of Technology as examples,respectively. Thirdly,the ZMP constraint of stability is analyzed.The experiment platform is shown finally.
领 域: [自动化与计算机技术] [自动化与计算机技术]