Designing Human-like Behaviors for Anthropomorphic Arm in Humanoid Robot NAO

摘要

SUMMARY Human-like motion of robots can improve human–robot interaction and increase the efficiency. In this paper, a novel human-like motion planning strategy is proposed to help anthropomorphic arms generate human-like movements accurately. The strategy consists of three parts: movement primitives, Bayesian network (BN), and a novel coupling neural network (CPNN). The movement primitives are used to decouple the human arm movements. The classification of arm movements improves the accuracy of human-like movements. The motion-decision algorithm based on BN is able to predict occurrence probabilities of the motions and choose appropriate mode of motion. Then, a novel CPNN is proposed to solve the inverse kinematics problems of anthropomorphic arms. The CPNN integrates different models into a single network and reflects the features of these models by changing the network structure. Through the strategy, the anthropomorphic arms can generate various human-like movements with satisfactory accuracy. Finally, the availability of the proposed strategy is verified by simulations for the general motion of humanoid NAO.