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为了在人机交互中使仿人机器人表情更加接近人类,基于仿人机器人嵌入式系统结构平台,利用嵌入式芯片控制舵机的方法,对多自由度仿人机器人面部表情进行了设计和实现.首先,通过嵌入的系统芯片对舵机进行控制,利用其转动角度和脉冲宽度之间的关系,达到舵机对相应面部自由度的控制;然后,系统采用分时复用和串并结合的方法,产生PWM波控制信号,使得在表情发生时各舵机达到同步进行的效果;最后,通过有限状态机构造情绪抑制模型,让机器人拥有一定的情绪抑制能力.经过大量的试验和仿真,验证了本系统具有较高的可行性.
In order to make the humanoid humanoid facial expression closer to human in the human-computer interaction, a multi-degree-of-freedom humanoid robot facial expression is designed and implemented based on the humanoid robot embedded system structure platform and the embedded chip control steering gear. Firstly, the actuator is controlled by the embedded system chip, and the relationship between the rotation angle and the pulse width is used to control the degree of freedom of the corresponding face. The system then uses the method of time division multiplexing and serial and combination , The PWM wave control signal is generated so that the steering gears achieve the effect of synchronization when the expression occurs. Finally, the emotion suppression model is constructed by the finite state machine to allow the robot to possess some emotion suppression ability. After a large number of experiments and simulations, The system has a high feasibility.