可视语音中虚拟机器人的运动学分析

Kinematics Analysis of Virtual Robot in Visual Speech

针对肢体语言在传递非语言信息的过程中控制的复杂性,利用普通关节型机器人的运动学研究方法,对可视语音研究中的虚拟机器人进行了运动学分析,并为解决二者之间的差异引入了权值运算,从而推导出了虚拟机器人以肢体语言表达非语言信息的运动学方程。研究该虚拟机器人的运动学方法共分为三大步:第一步,利用D-H参数法求出各连杆机构的D-H参数表;第二步,根据参数表建立各个运动系统的运动学方程;第三步,利用权值选择适当强度级别的运动方程。实验表明,该分析方法在研究虚拟机器人随情感强弱变化而做出不同肢体反应的可视语音系统时,能够大大简化分析难度,优化控制。该方法不但适用于虚拟机器人,也同样适用于物理机器人的肢体语言控制,具有很强的实用性。

For the complexity of body language control when the nonverbal information is expressed,a kinematics analysis method on virtual robot is introduced.Weight calculation is utilized to solve the differences between virtual robots for visual speech synthesis and traditional joint type robots in kinematics analysis method.And the kinematics equations by which the virtual robot expresses the nonverbal information is derived.The method is divided into three major steps,i.e.to establish a Denavit-Hartenberg（D-H）parameter table,to establish kinematical equations of these linkage systems,and to choose a proper intensity level equation in those kinematical equations which has different by the weight.Experiment result shows that the proposed method can apparently reduce the difficulty of kinematics analysis and optimize the control in the research of visual speech system which the virtual robot can make deferent motions with deferent emotions.This method is not only applicable to the virtual robots,but also applicable to the physical robots.It is expected to have a strong practicality.