Research Of Upper Body Motion Planning Adn Human-computer Interaction Of Humanoid Robot

With the progress of human society and the development of science technology,especially the commercialization and the marketization of humanoid service robots,humanoid robots have become the frontier topic in the field of robotics research,especially the research of robots anthropomorphic behavior,which gets more attentions of scholars all over the world.Humanoid robots needs not only the appearance of anthropomorphic,but also the behavior of personification.The anthropomorphic appearance of robot can make it look like people in appearance,but only the anthropomorphic behavior can enhance the human’s psychological safety for robot so that efficiency of human-computer cooperation can be improved greatly.Firstly,based on the knowledge of robotics,taking the movement characteristics of human upper body as the research object,two kinematic models of human upper body are established from the perspective of ergonomics.Through comparing two models with global relative manipulability and workspace index and considering the actual demands and real-time control,the simple human upper body kinematic model was choosen as our basic model.It provides theory basis for the designing of the robot and lays the foundation for subsequent motion planning and hierarchy analysis of workspace.Secondly,through the analysis of different movement characteristics of waist and arm,the law of human upper body motion is summed up,moreover,the index of “joint displacement+comfort-potential” is proposed.Based on the index,a new motion planning algorithm of humanoid robot upper body is put forward utilizing the gradient projection method and its feasibility and rationality are verified by comparing the matlab numerical simulation and experiment of moion of drawing a small circle and a big circle with finger tip in standing posture.Finally,through the analysis of different upper body motion features between normal people and blind people,the importance of view field is confirmed.Based on this, the workspace of human arm is divided into two regions, one is interior of view field,the other is exterior of view field.By designing the experiment and analyzing the motion of waist in the field of vision,the view field is divided into the waist-turning area and the non waist-turning area.So far,the division of three-layer of arm workspace has been finished.The importance of keeping an appropriate distance in human-machine interaction is proved by analyzing the human arm workspace with safety and arm posture prediction indexes.It can not only ensure the safety of people,but also make people accept the object with a comfort arm posture.