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仿人机器人头颈协调系统的研制

信继忠 柯显信 杨阳 卢孔笔

信继忠, 柯显信, 杨阳, 卢孔笔. 仿人机器人头颈协调系统的研制[J]. 机械科学与技术, 2017, 36(1): 29-33. doi: 10.13433/j.cnki.1003-8728.2017.0104
引用本文: 信继忠, 柯显信, 杨阳, 卢孔笔. 仿人机器人头颈协调系统的研制[J]. 机械科学与技术, 2017, 36(1): 29-33. doi: 10.13433/j.cnki.1003-8728.2017.0104
Xin Jizhong, Ke Xianxin, Yang Yang, Lu Kongbi. Development of Head and Neck Coordination System of Humanoid Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(1): 29-33. doi: 10.13433/j.cnki.1003-8728.2017.0104
Citation: Xin Jizhong, Ke Xianxin, Yang Yang, Lu Kongbi. Development of Head and Neck Coordination System of Humanoid Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(1): 29-33. doi: 10.13433/j.cnki.1003-8728.2017.0104

仿人机器人头颈协调系统的研制

doi: 10.13433/j.cnki.1003-8728.2017.0104
基金项目: 

国家自然科学基金项目(61273325)与国家重大科学仪器设备研发专项(2012YQ150087)资助

详细信息
    作者简介:

    信继忠(1990-),硕士研究生,研究方向为仿人机器人和人机情感交互等,xjzklbb521@163.com

    通讯作者:

    柯显信(联系人),副教授,博士后,xxke@staff.shu.edu.cn

Development of Head and Neck Coordination System of Humanoid Robot

  • 摘要: 研制出仿人机器人头颈协调系统,主要包括仿人机器人和控制系统。仿人机器人具有22个自由度,控制系统采用上下位机结构,并完成包含四种工作模式的人机软件界面。在ADAMS软件中,对眼球圆周转动以及眼颈协调运动进行运动学仿真。实验结果表明,在头颈协调系统中,机器人的面部器官能够逼真地再现8种基本表情,结合颈部运动,可以实现更多丰富多样的表情,比如愧疚、仰天大笑及傲慢等,头颈协调运动能够使得机器人实现对小球和人脸的可靠性检测和跟踪。
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出版历程
  • 收稿日期:  2015-04-04
  • 刊出日期:  2017-01-16

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