关键词: 动作基元, 达点运动, 人机交互, 运动模式相似度, 仿人运动

Abstract: In order to reveal the coordination relationship between swivel angle, position and posture of the end of the human arm, and to realize the robot’s deep human-like motion planning, the motion pattern of the human arm reaching point movement was studied. The arrangement and combination of the movement primitives of the human arm were defined as the motion pattern of the human arm reaching point movement. The experimental data collection and processing of 3240 human arm reaching point were carried out, and the influence of the movement phases and the region of the reaching point on the motion pattern was analyzed. Compound constraint similarity, an index of motion pattern similarity based on constraint of primitive type, order change, frequency of motion pattern and frequency of connection mode of primitive, was proposed, and the optimal motion pattern of human arm reaching point was optimized. Based on this motion pattern, the reaching point movement of the human arm is reproduced by using a 7-DOF anthropomorphic robotic arms.

Key words: movement primitives, reaching point movement, human-robot interaction, motion pattern similarity, anthropomorphic movement