宛敏红,周维佳,刘玉旺.仿人机器人头部设计与目标跟踪运动控制[J].农业机械学报,2017,48(10):401-407.
WAN Minhong,ZHOU Weijia,LIU Yuwang.Design of Humanoid Robot Head and Motion Control for Object Tracking[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(10):401-407.
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仿人机器人头部设计与目标跟踪运动控制   [下载全文]
Design of Humanoid Robot Head and Motion Control for Object Tracking   [Download Pdf][in English]
投稿时间:2017-07-05  
DOI:10.6041/j.issn.1000-1298.2017.10.051
中文关键词:  仿人机器人  头部  目标跟踪  虚拟连杆  梯度投影法  轨迹预测
基金项目:国家自然科学基金项目(51605474)
作者单位
宛敏红 中国科学院沈阳自动化研究所 
周维佳 中国科学院沈阳自动化研究所 
刘玉旺 中国科学院沈阳自动化研究所 
中文摘要:针对仿人机器人视觉目标跟踪任务需求,设计了一种高精度、灵巧型仿人机器人头部系统,构建了视觉感知模块与3自由度机械臂运动机构。利用虚拟连杆方法对仿人机器人头部进行运动学建模,将目标跟踪问题转换为机械臂的运动学逆解问题,通过计算机构可操作度与条件数,显示机器人头部对目标跟踪任务具有良好的运动学灵活性。在此基础上,基于梯度投影法建立了目标跟踪运动学逆解与规避关节极限位置的同步优化算式,并针对视觉测量系统带宽较窄、容易造成较大跟踪误差的问题,提出了在两次视觉测量间隔内用轨迹预测的方法获得目标位置的估计值,以提高跟踪精度。仿真与实验结果表明,在测量盲区内采用轨迹预测方法,可将跟踪精度提高约80%,实现高精度目标跟踪。所提出的仿人机器人头部及控制方法,对动态目标具有良好的跟踪性能。
WAN Minhong  ZHOU Weijia  LIU Yuwang
Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang Institute of Automation, Chinese Academy of Sciences and Shenyang Institute of Automation, Chinese Academy of Sciences
Key Words:humanoid robot  head  object tracking  virtual link  gradient projection method  trajectory prediction
Abstract:According to the need for visual target tracking task of the humanoid robot, a new kind of humanoid robot head with high precision and good dexterity was put forward, and the visual perception module and the three degree of freedom robot mechanism were constructed. In order to evaluate the motion ability of humanoid robot head for the target tracking task,the kinematics model of the robot head was established by using the virtual link method, which made the problem of object tracking transform to the problem of inverse kinematics. And the kinematics characteristics was studied by the calculation of condition number and manipulability, which showed that the dexterity of the humanoid robot head was good for the tracking task. Based on this, by using gradient projection method, the synchronization optimization solution was obtained for the inverse kinematics and the avoidance of joint limits. Because of the complexity of image processing, the speed of the visual measurement system was generally slow, and the bandwidth was usually only about 10Hz. Therefore, the target position can not be updated in the measurement blind area between the two measuring points, which led to great tracking error. According to this problem, a prediction method of trajectory in the two visual measurement interval to estimate the target position was proposed. The simulation and experimental results showed that the tracking accuracy can be improved by about 80% by using the trajectory prediction method in the blind area of vision measurement, and the high precision target tracking can be realized. The humanoid robot head and motion control method proposed had good tracking performance for dynamic target.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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