基于碰撞危险度的仿人机器人动态避碰博弈策略

摘要

According to the motion characters of humanoid robot, we design a collision prediction and a collision risk assessment method, and present a game strategy for dynamic collision avoidance based on the collision risk.By choosing appropriate game model, the humanoid robot collision problem is transformed to the partial game process with other robots under limited communication conditions%针对面向协同的仿人机器人避碰运动策略进行研究.设计了一种仿人机器人碰撞预测及碰撞危险度评估方法,提出了一种基于碰撞危险度的仿人机器人动态避碰博弈策略.该方法通过动态博弈模型,将仿人机器人避碰运动问题转化为机器人在有限通信辅助下与其他机器人进行博弈的过程.