一种机器人仿人书写系统

A system for robot producing human-like ink traces

设计了一种用于机器人重现人类书写笔迹的系统,该系统由手写运动信息采集器、手写样本数据处理器、控制命令组装器、机器人控制器和机器人本体组成.首先,利用数字平板采集人类手写运动信息,并记录为时间序列数据.然后系统对手写数据特征进行提取,并生成机器指令用于控制书写机器人.仿真表明:基于真实手写运动信息数据源,机器人能够实现汉字书写笔迹的重现;此外,不同于人类书写具有较大波动性,机器人通过重复调用执行书写指令可确保多次书写的一致性.

A system which enables robots to produce human-like ink traces was designed.The pro-posed system consists of handwriting data collector,sample data processor,command assembler,ro-bot controller and robot body.Firstly,human writing movement was captured by a tablet and recor-ded as time series of temporal pen trajectories.Then the system extracted the handwriting features to assemble machine commands for controlling a writing robot.The simulation results indicate that,the robot is able to reproduce the same ink trace of Chinese characters based on handwriting information. Besides,unlike human movement that involves considerable variability,the robot with the system can ensure the consistency of writing by executing the commands repeatedly.