摘要
提出了基于惯性测量单元IMU的主动型伴舞机器人人机协作控制算法。机器人腰部安装具有一定刚度的弹簧,利用Kalman滤波将三轴加速度计数据与三轴陀螺仪数据进行融合,得到机器人在人类舞伴作用下的姿态角变化,采用阈值法滤除相对姿态角抖动误差,再结合当前机器人状态,综合判断得到相对姿态角到速度矢量的映射。将期望轨迹速度与人力产生的轨迹修正速度融合,得到人机协作下机器人的运动轨迹和剩余目标点的坐标修正值。将算法应用于华尔兹CCL舞步轨迹测试,实验结果表明算法效果良好。
This paper proposes an IMU(Inertial Measurement Unit)-based human-machine cooperation control algorithm of active dancing robot The robot is equipped with three springs with a certain rigidity at the waist.Kalman filter is used to fuse the triaxial accelerometer data with the three-axis gyroscope data to obtain the changes of attitude angle of the robot under the influence of human partners.The threshold method is used to eliminate the jitter error of attitude angle.Combined with the current state of the robot,the mapping of the relative attitude angle to the velocity vector is obtained.Then,the desired trajectory speed and the human trajectory correction speed are fused to get the robot trajectory and the corrected coordinates of the remaining target points.The algorithm is applied to Waltz CCL(Closed Change Left)trajectory test,and the experimental results show that the algorithm works well.
出处
《计算机工程与科学》
CSCD
北大核心
2018年第1期128-132,共5页
Computer Engineering & Science
基金
国家自然科学基金(51005126)
关键词
主动伴舞机器人
人机协作
卡尔曼滤波
姿态角
active dancing robot
human-machine cooperation
Kalman filtering
attitude angles
