Similarity comprehensive evaluation of humanoid robot arm motion
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摘要
A suitable comprehensive evaluation method for similarity comprehensive evaluation of humanoid motion(mainly to robotic arm) is proposed.For different robotic arms, a static comprehensive evaluation model is established by projection pursuit evaluation based on indexes of humanoid robot arm motion in robotics and ergonomics field. Based on projection pursuit evaluation with timing information entropy and time degrees, a dynamic comprehensive evaluation method is proposed by linear weighting to each time's static model's indexes weight according to timing weighted vectors. Through comparing similarity comprehensive evaluation result based on static and dynamic comprehensive evaluation model, the results show that similarity based on dynamic comprehensive evaluation model is high. By comparing reliability, similarity and dispersion of static and dynamic comprehensive evaluation models, the results show that dynamic comprehensive evaluation result has better accuracy, stability and lower dispersion, and the result is more reasonable and real. Therefore, the dynamic comprehensive evaluation method proposed in this paper is more suitable for similarity comprehensive evaluation of humanoid robot arm motion.
A suitable comprehensive evaluation method for similarity comprehensive evaluation of humanoid motion(mainly to robotic arm) is proposed.For different robotic arms, a static comprehensive evaluation model is established by projection pursuit evaluation based on indexes of humanoid robot arm motion in robotics and ergonomics field. Based on projection pursuit evaluation with timing information entropy and time degrees, a dynamic comprehensive evaluation method is proposed by linear weighting to each time's static model's indexes weight according to timing weighted vectors. Through comparing similarity comprehensive evaluation result based on static and dynamic comprehensive evaluation model, the results show that similarity based on dynamic comprehensive evaluation model is high. By comparing reliability, similarity and dispersion of static and dynamic comprehensive evaluation models, the results show that dynamic comprehensive evaluation result has better accuracy, stability and lower dispersion, and the result is more reasonable and real. Therefore, the dynamic comprehensive evaluation method proposed in this paper is more suitable for similarity comprehensive evaluation of humanoid robot arm motion.
A suitable comprehensive evaluation method for similarity comprehensive evaluation of humanoid motion(mainly to robotic arm) is proposed.For different robotic arms, a static comprehensive evaluation model is established by projection pursuit evaluation based on indexes of humanoid robot arm motion in robotics and ergonomics field. Based on projection pursuit evaluation with timing information entropy and time degrees, a dynamic comprehensive evaluation method is proposed by linear weighting to each time's static model's indexes weight according to timing weighted vectors. Through comparing similarity comprehensive evaluation result based on static and dynamic comprehensive evaluation model, the results show that similarity based on dynamic comprehensive evaluation model is high. By comparing reliability, similarity and dispersion of static and dynamic comprehensive evaluation models, the results show that dynamic comprehensive evaluation result has better accuracy, stability and lower dispersion, and the result is more reasonable and real. Therefore, the dynamic comprehensive evaluation method proposed in this paper is more suitable for similarity comprehensive evaluation of humanoid robot arm motion.
引文
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[3]Jung E,Choe J,Kim S.Psychophysical cost function of joint movement for arm reach posture prediction[C].In:Proceedings of the 38th Annual Meeting of the Human Factors and Ergonomics Society,New York,USA,1994.636-640
[4]Almasri B,Ouezdou F.Human-like motion based on a geometrical inverse kinematics and energetic optimization[C].In:Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,IROS,Nice,France,2008.640-646
[5]Hofree G,Urgen B A,et al.Observation and imitation of actions performed by humans,androids,and robots:an EMG study[J].Frontiers in Human Neuroscience,2015,364(9):19
[6]Xie B,Zhao J,Liu Y.Fault tolerant motion planning of robotic manipulators based on a nested RRT algorithm[J].Industrial Robot-an International Journal,2012,39(1):40-46
[7]Wei Y,Zhao J.Designing robot behavior in human robot interaction based on emotion expression[J].Industrial Robot-an International Journal,2016,43(4):380-389
[8]Chen C,Zhuang Y,Nie F.Learning a 3D human pose distance metric from geometric pose descriptor[J].IEEETransactions on Visualization&Computer Graphics,2011,17(11):1676-1689
[9]Sun Z,Zhao J,Li L.Comparisonbetween PCA and KP-CA methods in comprehensive evaluation of robotickinematic dexterity[J].High Technology Letters,2014,20(2):154-160
[10]Wang B,Li,Y,Meng Y.Comprehensive evaluation of integrative drip-irrigation and fertilization using a projection pursuit model based on the improved double chains quantum genetic algorithm[J].Desalination and Water Treatment,2017,3(66):229-234
[11]Wu L,He D,Ji Z.Protection efficiency assessment and quality of coastal shelterbelt for Dongshan Island at the coastal section scale[J].Journal of Forestry Research,2017,28(3):577-584
[12]Fang F,Qiao L,Cao J.Quantitative evaluation of A(2)O and reversed A(2)O processes for biological municipal wastewater treatment using a projection pursuit method[J].Separation and Purification Technology,2016,166(22):164-170
[13]Yager R.On ordered weighed averaging aggregation operators in muli-eriteria decision making[J].IEEE Transactions on Systems Man&Cybernetics,1988,18(1):80-87
[14]Zhu J,Zhao Z.Chinese electric power development coordination analysis on resource,production and consumption:a provincial case study[J].Sustainability,2017,9(2):1-19
[15]Ke W,Cui G,Hong B.On biped walking of humanoid robot based on movement similarity[J].Robot,2010,23(6):766-772
[16]Ou Y,Hu J,Wang Z.A real-time human imitation system[J].International Journal of Social Robotics,2015,7(5):1-14
[17]Xie B,Zhao J.A new criterion for redundancy resolution of human arm in reaching tasks[C].In:Proceedings of the IEEE/ASMEInternational Conference on Advanced Intelligent Mechatronics:Mechatronics for Human Wellbeing,New York,USA,2013.1066-1071
[18]Gravez F,Bruneau O,Ouezdou,F.Analytical and automatic modeling of digital humanoids[J].International Journal of Humanoid Robotics,2005,2(3):337-359
[19]Jung E,Choe J.Human reach posture prediction based on psychophysical discomfort[J].International Journal of industrial ergonomics,1996,18(2-3):173-179
[20]Hao H,Zong J.System Analysis and Evaluation Method[M].Beijing:Economic Science Publish,2007.256-259
[21]Dai H,Zhang,F.Psychological and Educational Measurement[M].Guangzhou:Jinan University Press,2006.225-226
[22]Sun Z,Wang L.Comprehensive Evaluation Method of Medicine and Its Application[M].Beijing:Chemical Industry Press,2006.124-126
[23]Yue C.Decision Theory and Methods[M].Beijing:Science Press,2003.189-191(In Chinese)