论文标题
人体运动符合人体工程学有效载荷的优化人形机器人设计
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting
论文作者
论文摘要
当人类和人形机器人在身体上合作时，人体工程学是要考虑的关键因素。假设给定的类人动物机器人，如今存在几种控制架构，以解决符合人体工程学的人体机器人协作。本文将机器人硬件参数视为协作有效负载问题问题中的优化变量，从而更进一步。参数化机器人的运动学和动力学的变量确保了它们的身体一致性，并且在优化问题中考虑了人类模型。通过利用所提出的建模框架，相互作用的人体工程学最大化，在这里由代理的能量消耗给出。解决相关的优化问题时，请考虑机器人运动学，动力学，硬件约束和人几何形状。所提出的方法用于识别用于设计Ergocub机器人的最佳硬件参数，Ergocub机器人是一种具有一定程度的具有体现智能的人物，用于与人类的人体工程学相互作用。对于优化问题，起点是ICUB人形机器人。相对于ICUB机器人，所获得的机器人设计在0.8-1.5 m的高度下达到载荷，其范围限制为0.8-1.2 m。与此同时，机器人能量消耗减少了约33％，与人体工程学保留，总体上可以改善相互作用。
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This paper takes one step further by considering robot hardware parameters as optimization variables in the problem of collaborative payload lifting. The variables that parametrize robot's kinematics and dynamics ensure their physical consistency, and the human model is considered in the optimization problem. By leveraging the proposed modelling framework, the ergonomy of the interaction is maximized, here given by the agents' energy expenditure. Robot kinematic, dynamics, hardware constraints and human geometries are considered when solving the associated optimization problem. The proposed methodology is used to identify optimum hardware parameters for the design of the ergoCub robot, a humanoid possessing a degree of embodied intelligence for ergonomic interaction with humans. For the optimization problem, the starting point is the iCub humanoid robot. The obtained robot design reaches loads at heights in the range of 0.8-1.5 m with respect to the iCub robot whose range is limited to 0.8-1.2 m. The robot energy expenditure is decreased by about 33%, meanwhile, the human ergonomy is preserved, leading overall to an improved interaction.
