基于PDR算法的伴舞型舞姿机器人控制研究

Control of A ccompanying Dance Robot Based on PDR Algorithm

为了解决传统伴舞机器人与舞者之间协同性较差的问题,研究设计一种基于步行者航位推算算法的伴舞型舞姿机器人控制系统。首先对人力对伴舞机器人运动产生的影响进行研究,然后将步行者航位推算算法用于构建被动型伴舞机器人的控制系统,最后利用仿真和实际应用来验证控制系统的性能。结果表明,在伴舞机器人协同过程中,控制系统在x轴、y轴方向的误差最大值分别为1.2 m、0.6 m,控制系统方法的舞姿准确性与控制精度分别为90.18%和90.86%;控制系统对伴舞机器人难度动作能力能够达到88.73%,同时协调性为87.29%。这说明通过将步行者航位推算算法与被动型伴舞机器人控制系统相结合,使机器人能够与舞者的动作协调,展现出较为优秀的伴舞效果,实现了机器人与舞者的协调伴舞。

In order to solve the problem of poor collaboration between traditional dance robots and dancers,a control system for dance style dance robots based on the pedestrian’s dead reckoning algorithm is studied and designed.Firstly,the impact of manpower on the movement of dance robots is studied.Then,the PDR method is applied to construct a control system for passive dance robots.Finally,simulation and practical applications are used to verify the performance of the control system.The results show that during the collaborative process of the accompanying dance robot,the maximum errors of the control system in the x-axis and y-axis directions are 1.2 m and 0.6 m,respectively.The dance posture accuracy and control accuracy of the control system method are 90.18%and 90.86%,respectively;The control system can achieve 88.73%difficulty action ability and 87.29%coordination ability for the accompanying dance robot.This indicates that by combining the pedestrian’s dead reckoning algorithm with the passive dance robot control system,the robot can coordinate with the dancer’s movements,demonstrating excellent dance performance,and achieving coordinated dance accompaniment between the robot and the dancer.