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为了提高使用者与机器人人机合作过程中的社交和认知能力,针对一类具有相同结构的表情机器人,提出了一种基于静态视觉的人机共同注意实现方法.首先,获取使用者注意焦点的影像像素坐标和焦点到摄像机的距离;其次,通过坐标系变换,求解使用者注意焦点的世界坐标;再次,基于几何法求解机器人本体运动学逆解;最后,根据求得的关节角控制舵机,实现人机共同注意.通过仿真与物理平台的实验,验证了方法的有效性和准确性,为人机交互与合作中共同注意的实现提供了解决方案.
In order to improve the social and cognitive abilities of human-machine interaction between user and robot, aiming at a type of expression robot with the same structure, a method of human-computer common attention based on static vision is proposed.First, Secondly, through the transformation of the coordinate system, the world coordinates of the focus of the user are solved. Thirdly, the kinematic inverse of the robot’s body is solved based on the geometric method. Finally, the rudder is controlled according to the calculated joint angle Machine, to realize the common attention of man-machine.Through the simulation and the experiment of the physical platform, the validity and accuracy of the method is verified, which provides a solution for the common attention in the man-machine interaction and cooperation.