Research On Humanoid Robot Motion Capture And Motion Reproduction

The development history of human society can be described as the creation history of tool. Nowadays human’s tools are more and more intelligent, but there are still a lot of work environments such as nuclear power station, mine and so on, harmful to human body, not suitable for people to work. The global population growth rate is more and more low, even appears negative; the labor is insufficient. The devices which can replace the human to work in those environments are in urgent need. Nowadays the intelligence level of robot is still very low, they are unable to complete complex works. The humanoid robot has the advantage, which has similar structure with human body. So the humanoid robot can represent the motion of human. Achieve the remote operation of the equipment operators. And, could successively control robots in different workplaces or control multiple robots at the same time.The robot system is a comprehensive system of multidisciplinary. The development of material object is costs, long cycle. Therefore, in this paper uses the three-dimensional software ProE to establish a virtual prototype of humanoid robot; then, import it into ADAMS. In ADAMS define the material properties and the movement of each joint vice of the virtual prototype. Because the Euler angle with a phenomenon of universal lock, so cannot use V.M.SENS sensor directly transmit the Euler angles to virtual prototype. But can use it to obtain the rotation matrix of joint movement, then according to the principle of the relationship between the rotation matrix and Euler angle, using MATLAB as the preprocessing of the data, calculates the angle data of each joint. Transfer the data of joint angle to the virtual prototype. Compare the movement of virtual prototype with the real human motions, observe the effect of following.Based on the experiment to modify the model and the parameters repeatedly, basically achieved that the virtual prototype follows the motion of human joint rapidly and accurately. But when human joints move very fast, the following shows a delay phenomenon. Through the experiment we can draw the conclusion, humanoid robot can be used to follow the movements of the body; actualize remote control complex equipment which in the dangerous working environment.