CAJ | 학술논문

阐述了基于运动相似性的仿人机器人动作规划研究进展：首先，分析了捕获人体运动轨迹，包括运动捕获设备类型与运动轨迹处理；其次，阐述了人机运动模型构建，包括运动重定向、分解与重构运动姿势；再次，阐述了不一致的目标环境控制，包括地面碰撞控制、不一致的形态控制、自适应学习、非线性连续运动轨迹设计等；最后进行了总结。
천술료기우운동상사성적방인궤기인동작규화연구진전：수선，분석료포획인체운동궤적，포괄운동포획설비류형여운동궤적처리；기차，천술료인궤운동모형구건，포괄운동중정향、분해여중구운동자세；재차，천술료불일치적목표배경공제，포괄지면팽당공제、불일치적형태공제、자괄응학습、비선성련속운동궤적설계등；최후진행료총결。
The survey on motion planning of humanoid robot based on locomotion similarity is illustrated .Firstly ,the trajectory capturing which includes the types of motion capturing devices and motion trajectory dealing are analyzed .Secondly ,the human-robot motion model which includes the motion retargeting ,motion division and reconstruction is described .Thirdly ,the variation control of motion target which includes the ground collision ,shape variation control ,self-adjusting learning ,nonlinear continuous trajectory design is shown .The con-clusion is drawn finally .