仿人表情机器人的下颌机构设计与运动

TP242; 针对目前仿人表情机器人口部运动模式单一的问题,基于人类下颌的解剖学运动机理,设计了一种新颖的多自由度仿生下颌机构.建立了仿生下颌机构的逆向运动学模型,分析了其运动模式,实现了仿生下颌机构在空间中的多自由度运动.对多自由度仿生下颌机构进行了多刚体仿真,并通过实验验证了其可行性.仿真和实验结果表明,基于逆向运动学模型,该机构可以模拟人类下颌的张合、前推、偏移3种基本运动模式,以及咀嚼、咬唇等口部复杂运动模式,弥补了现有仿人表情机器人口部运动模式受限的问题....

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Published in上海交通大学学报 Vol. 58; no. 8; pp. 1231 - 1239
Main Authors 赵威, 袁绍珂, 李忆楠, 费燕琼
Format Journal Article
LanguageChinese
Published 上海交通大学机器人研究所,上海 200240 28.08.2024
Subjects
仿生机器人
bionic robot
inverse kinematic analysis
mechanism design
仿生下颌
逆运动学分析
expression robot
表情机器人
bionic jaw
机构设计
Online AccessGet full text
ISSN1006-2467
DOI10.16183/j.cnki.jsjtu.2022.469

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Abstract TP242; 针对目前仿人表情机器人口部运动模式单一的问题,基于人类下颌的解剖学运动机理,设计了一种新颖的多自由度仿生下颌机构.建立了仿生下颌机构的逆向运动学模型,分析了其运动模式,实现了仿生下颌机构在空间中的多自由度运动.对多自由度仿生下颌机构进行了多刚体仿真,并通过实验验证了其可行性.仿真和实验结果表明,基于逆向运动学模型,该机构可以模拟人类下颌的张合、前推、偏移3种基本运动模式,以及咀嚼、咬唇等口部复杂运动模式,弥补了现有仿人表情机器人口部运动模式受限的问题.
AbstractList TP242; 针对目前仿人表情机器人口部运动模式单一的问题,基于人类下颌的解剖学运动机理,设计了一种新颖的多自由度仿生下颌机构.建立了仿生下颌机构的逆向运动学模型,分析了其运动模式,实现了仿生下颌机构在空间中的多自由度运动.对多自由度仿生下颌机构进行了多刚体仿真,并通过实验验证了其可行性.仿真和实验结果表明,基于逆向运动学模型,该机构可以模拟人类下颌的张合、前推、偏移3种基本运动模式,以及咀嚼、咬唇等口部复杂运动模式,弥补了现有仿人表情机器人口部运动模式受限的问题.
Abstract_FL In order to solve the current problem of a single oral motion mode for the humanoid expression robot,a novel multi degree of freedom(DOF)bionic jaw mechanism was designed based on the anatomical motion mechanism of the human jaw.The inverse kinematics model of the mechanism was established,and the motion mode of the mechanism was analyzed to realize the multi DOF motion of the bionic jaw mechanism in space.A multi rigid body simulation of the bionic jaw mechanism was conducted,whose feasibility was verified by the experiments.The simulation and experimental results demonstrate that,based on the inverse kinematics model,the mechanism designed is able to simulate the three basic motion modes of human jaw,including open-close movement,protrusion movement,and side shifting movement,as well as the complex oral motion modes including chewing and lip biting.Therefore,the proposed mechanism can compensate for the limits of oral movement patterns of the existing humanoid robots.
Author 费燕琼
赵威
袁绍珂
李忆楠
AuthorAffiliation 上海交通大学机器人研究所,上海 200240
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Author_FL ZHAO Wei
LI Yinan
FEI Yanqiong
YUAN Shaoke
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  fullname: 袁绍珂
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Keywords 仿生机器人
bionic robot
inverse kinematic analysis
mechanism design
仿生下颌
逆运动学分析
expression robot
表情机器人
bionic jaw
机构设计
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