摘要
基于通常运用于机器人上的激光距离传感器,提出了一种新颖的测量脚部位置与方向的方法;利用激光距离传感器测量脚部位置与方向的,可以运用于机器人对人类行动的跟踪、人类行为的研究或是人机互动等方面;首先提出了一种简单的脚部模型,用于定义脚的位置与方向;再根据脚步与传感器之间相对位置的不同,将检测到的脚部分为三类———准确型,欠准确型和临界型,分别用不同方法计算脚的位置与方向;通过在三种距离下的实验,验证了本方法能够较为准确地测量出脚部的位置和方向,最大的平均位置误差不超过35 mm,最大的平均角度误差小于15°。
A novel method of measuring the position and orientation of a foot is proposed based on the laser range scanner, which is usu- ally applied on the robotic research, such as tracking of human＇s movement, human behavior research or human--robot interaction. First, we proposed a simple foot model to define the position and orientation of a foot. Then, according to the relative position between the foot and the sensor, the detected position and orientation of the foot can be divided into three types--accurate type, inaccurate type and critical type, respectively calculated with different methods. The experiments in three kinds of distance verified the accuracy of the method of measuring the foot＇s position and orientation, in which the maximum error of average position is less than 35 mm and the maximum error of average ori- entation is less than 15 degree,
出处
《计算机测量与控制》
北大核心
2014年第2期332-335,共4页
Computer Measurement &Control
