• 中国计算机学会会刊
  • 中国科技核心期刊
  • 中文核心期刊

计算机工程与科学

• 论文 • 上一篇    下一篇

基于IMU的主动伴舞机器人人机协作控制算法

刘召1,2,宋立滨2,于涛2,郭凯2,王增喜2,耿美晓2   

  1. (1.清华大学天津高端装备研究院,天津 300304;2.清研华宇智能机器人(天津)有限责任公司,天津 300304)

     
  • 收稿日期:2016-06-30 修回日期:2016-11-04 出版日期:2018-01-25 发布日期:2018-01-25
  • 基金资助:

    国家自然科学基金(51005126)

An IMU-based human-machine cooperation
control algorithm of active dancing robot

LIU Zhao1,2,SONG Li-bin2,YU Tao2,GUO Kai2,WANG Zeng-xi2,GENG Mei-xiao2   

  1. (1.Tianjin Research Institute for Advanced Equipment,Tsinghua University,Tianjin 300304;
    2.Tsingyan Huayu Robot and Automation( Tianjin) Co.,Ltd.,Tianjin 300304,China)
  • Received:2016-06-30 Revised:2016-11-04 Online:2018-01-25 Published:2018-01-25

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。

 

关键词: 主动伴舞机器人, 人机协作, 卡尔曼滤波, 姿态角

Abstract:

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.
 

Key words: active dancing robot, human-machine cooperation, Kalman filtering, attitude angles