【摘要】 要:行为模仿是现代机器人展现其智能化水平的重要技术之一,如何使机器人模仿出的行为动作与示教者相似且自然一直是该领域的热门研究课题。为此,基于朴素方法设计了一种改进的机器人行为模仿框架。该框架使用普通单目摄像头采集示教者动作,在朴素方法中引入行为语义识别模块与关键动作提取模块,使得机器人可以在理解示教者行为动作语义的基础上进行行为模仿。最后将该框架部署在HBE-ROBONOVA-AI Ⅱ人形机器人平台上,输入自主采集的单人动作视频数据进行实验。与目前其他主流框架的实验效果相比,该框架可以使得机器人在精确性、平衡性、相似性三方面的综合表现更加优秀,同时展现了机器人对于示教者行为动作独特的认知能力。更多还原

【Abstract】 Behavioral imitation is one of the important technologies for robots to show their intelligence. How to make the behaviors and actions imitated by robots similar to the demonstrating actions of human has become a hot research topic. In this paper, we design an improved robot behavior modeling framework based on simple method. The framework collects teaching action using normal monocular camera, and introduces behavior semantic recognition module and key action extraction module into the simple method. The framework enables robots to understand instructor’s behavior semantics and then imitate instructor’s behaviors. Finally, this framework is deployed on the HBE-ROBONOVA-AI Ⅱ humanoid robot platform, and experiments are conducted using independently collected single-person action video data as input. Compared with the experimental results of other mainstream frameworks, this framework works with more excellent comprehensive performance in three aspects of accuracy, balance and similarity, and demonstrates a unique cognitive ability to instructor’s behaviors.更多还原