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Information Technology Journal
  Year: 2012 | Volume: 11 | Issue: 11 | Page No.: 1612-1618
DOI: 10.3923/itj.2012.1612.1618
 
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Study of Key Pose of Movement Similarity on Humanoid Robot

Ke Wen-De, H. Bing-rong, C. Gang, P. Zhi-ping, Y. Quan-de and H. Liang

Abstract:
The method of similarity movement has attracted more attention for it is better than the traditional mathematics analysis in energy optimization and smooth joint track when designing the complicated joint tracks for humanoid robot. The extended architecture of obtaining and applying similar tracks, the similarity degree and synchronous control and Multi-level key poses were studied. Firstly, the extended architecture of obtaining and applying similar tracks was proposed, in which there were 9 modules movement capturing, feature extraction, applying similar tracks, kinematics constraint, dynamics constraint, simulating experiment, practical experiment, standard database and correction for environments. Secondly, the definition of similarity degree was shown from the aspects of differences in angles, angular velocities and angular accelerations between human being and humanoid robot. The movement synchronization was controlled through the angular velocity ratio, its rate of change, the angular acceleration ratio and its rate of change. Thirdly, the converting relationships of key poses were presented. For multi level key poses, the rules of priority level from the highest level to the lowest one and the corresponding dendrogram from bottom to top were constructed. The method of how to calculate the period of time for the γth level was also given. In experiment, the humanoid robot Aldebaran Nao was used to imitate the dance motion of human being. Each dancing pose of human being was divided into 4 level key poses (Finger, Wrist, Elbow, Shoulder) for the upper limbs and (Finger, Wrist, Elbow, Shoulder) for the lower limbs. The multi level key poses acted simultaneously to realize the synchronization of similar movement for humanoid robot. The comparison of corresponding angles such as shoulders, elbows, hips, knees and ankles between human being and humanoid robot showed the effect of similarity movement.
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How to cite this article:

Ke Wen-De, H. Bing-rong, C. Gang, P. Zhi-ping, Y. Quan-de and H. Liang, 2012. Study of Key Pose of Movement Similarity on Humanoid Robot. Information Technology Journal, 11: 1612-1618.

DOI: 10.3923/itj.2012.1612.1618

URL: https://scialert.net/abstract/?doi=itj.2012.1612.1618

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