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Arm Motions of a Humanoid Inspired by Human Motion

机译：由人体运动的人形的臂动作

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New generations of humanoid robots are becoming more faithful copies of the human body. From the human point of view, besides the human's look, the interest of humanoid robot can be in the more natural communication and interaction with human. Humanoid is also well adapted to environment dedicated to human, home or company. With morphology close to human one, it can be expected that the humanoid can replace the human in its task, but also that it can acquire human skills. Our objective is to generate anthropometric motion of humanoid robot inspired by human motion in everyday human activities. This can be done by imitation process, but in this context, each task has to be learned independently. Thus our approach consists in the search of the criterion used by human to achieve a task since the joint motion for achieving the same task is not unique. We will consider motions of the upper-body of the robots in which each arm has 7 degrees of freedom. Criteria that be explored are the minimization of the joint displacement, minimization of the kinetic energy and the proximity to ergonomic configuration. A study at the kinematic level based on generalized pseudo inverse of the Jacobian matrix is implemented. The joint motions obtained by minimization of the criterion are compared to the human motion adapted to the kinematic of the humanoid. The choice of the criterion optimized by the human is the one that corresponds to the smallest difference on joint configuration during all motion. Four different types of motion are considered.
机译：新一代人形机器人正在成为人体更忠实的副本。从人类的角度来看，除了人类的外观，人形机器人的兴趣可以在更自然的沟通和与人类的互动中。人形也适合致力于人类，家庭或公司的环境。对于人类的形态，可以预期人形可以取代人类的任务，而且可以获得人类技能。我们的目标是在日常人类活动中产生受人类运动的人体机器人机器人的人类动作。这可以通过模仿过程来完成，但在这种情况下，必须独立学习每个任务。因此，我们的方法在于寻找人类使用的标准来实现任务，因为实现相同任务的联合动作不是唯一的。我们将考虑每个手臂具有7度自由的机器人的上体的动作。探索的标准是最小化关节位移，最小化动能和符合人体工程学配置的近似值。基于Jacobian矩阵的广义伪逆的运动水平的研究进行了实施。将通过最小化标准获得的联合运动与适于人型运动的运动的人的运动进行比较。由人类优化的标准的选择是对应于在所有运动期间联合配置的最小差异的标准。考虑了四种不同类型的运动。

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