仿人机器人头颈协调系统的研制

Development of Head and Neck Coordination System of Humanoid Robot

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。

Head and neck coordination system of humanoid robot is developed in this paper,in which mainly includes the humanoid robot and control systems. Humanoid robot has 22 degrees of freedom,the control systems adopts upper and lower computer structure,and human-computer interface software with four kinds of work modes is completed. The kinematics simulation is carried out on eye circumference rotation and the coordinated movement of the eye and neck via ADAMS software. The experiments show that the robot＇ s facial organs can realistically reproduce the eight basic expressions in head and neck coordination system and also achieve more rich and various expressions combined with neck movement,such as guilt,laugh and arrogance and so on. It can realize the reliability detection and tracking of the ball and face based on coordination of head and neck.