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针对肢体语言在传递非语言信息的过程中控制的复杂性,利用普通关节型机器人的运动学研究方法,对可视语音研究中的虚拟机器人进行了运动学分析,并为解决二者之间的差异引入了权值运算,从而推导出了虚拟机器人以肢体语言表达非语言信息的运动学方程。研究该虚拟机器人的运动学方法共分为三大步:第一步,利用D-H参数法求出各连杆机构的D-H参数表;第二步,根据参数表建立各个运动系统的运动学方程;第三步,利用权值选择适当强度级别的运动方程。实验表明,该分析方法在研究虚拟机器人随情感强弱变化而做出不同肢体反应的可视语音系统时,能够大大简化分析难度,优化控制。该方法不但适用于虚拟机器人,也同样适用于物理机器人的肢体语言控制,具有很强的实用性。
In view of the complexity of control of body language in the process of transferring non-verbal information, kinematics analysis of virtual robot in visual speech research is made by using kinematic method of common articulated robot. The discrepancy introduces the weight operation, and deduces the kinematics equation that the virtual robot can express non-verbal information in body language. The kinematics method to study the virtual robot is divided into three steps: the first step, using the DH parameter method to calculate the DH parameter table of each linkage; the second step, according to the parameter table to establish the kinematics equation of each kinematic system; The third step, the use of weights to choose the appropriate intensity level of the equation of motion. Experiments show that the proposed method can greatly simplify the analysis difficulty and optimize the control when it comes to the visual speech system that makes the virtual robot respond differently to the emotion changes. The method is not only suitable for virtual robots, but also suitable for body language control of physical robots. It is very practical.