An Intelligent Human-like Motion Planner for Anthropomorphic Arms Based on Diversified Arm Motion Models

摘要

In this paper, the human-like motion issue for anthropomorphic arms is further discussed. An Intelligent Human-like Motion Planner (IHMP) consisting of Movement Primitive (MP), Bayesian Network (BN) and Coupling Neural Network (CPNN) is proposed to help the robot generate human-like arm movements. Firstly, the arm motion model is decoupled in the aspects of arm structure and motion process, respectively. In the former aspect, the arm model is decoupled into different simple models through the Movement Primitive. A Hierarchical Planning Strategy (HPS) is proposed to decouple a complete motion process into different sub-processes. Based on diversified arm motion models, the Bayesian Network is used to help the robot choose the suitable motion model among these arm motion models. Then, according to the features of diversified arm motion models, the Coupling Neural Network is proposed to obtain the inverse kinematic (IK) solutions. This network can integrate different models into a single network and reflect the features of these models by changing the network structure. Being a major contribution to this paper, specific focus is on the improvement of human-like motion accuracy and independent consciousness of robots. Finally, the availability of the IHMP is verified by experiments on a humanoid robot Pepper.