上海交通大学学报

上海交通大学学报 >

2024 , Vol. 58 >Issue 8: 1231 - 1239

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2022.469

机械与动力工程

仿人表情机器人的下颌机构设计与运动

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  • 上海交通大学 机器人研究所,上海 200240
赵 威(1996-),硕士生,从事仿人表情机器人研究.
费燕琼,教授,电话(Tel.):021-34201458; E-mail:fyq@sjtu.edu.cn.

收稿日期: 2022-11-21

  修回日期: 2023-01-12

  录用日期: 2023-03-03

  网络出版日期: 2024-01-08

基金资助

国家重点研发项目(2022YFB4703202);深圳自由探索类基础研究项目(2021Szvup078);转化医学国家重大科技基础设施(上海)开放课题(TMSK-2021-110)

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Design and Motion Analysis of Bionic Jaw Mechanism for Humanoid Expression Robot

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  • Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2022-11-21

  Revised date: 2023-01-12

  Accepted date: 2023-03-03

  Online published: 2024-01-08

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摘要

针对目前仿人表情机器人口部运动模式单一的问题,基于人类下颌的解剖学运动机理,设计了一种新颖的多自由度仿生下颌机构.建立了仿生下颌机构的逆向运动学模型,分析了其运动模式,实现了仿生下颌机构在空间中的多自由度运动.对多自由度仿生下颌机构进行了多刚体仿真,并通过实验验证了其可行性.仿真和实验结果表明,基于逆向运动学模型,该机构可以模拟人类下颌的张合、前推、偏移3种基本运动模式,以及咀嚼、咬唇等口部复杂运动模式,弥补了现有仿人表情机器人口部运动模式受限的问题.

关键词： 仿生下颌; 仿生机器人; 表情机器人; 机构设计; 逆运动学分析

本文引用格式

赵威, 袁绍珂, 李忆楠, 费燕琼 . 仿人表情机器人的下颌机构设计与运动[J]. 上海交通大学学报, 2024 , 58(8) : 1231 -1239 . DOI: 10.16183/j.cnki.jsjtu.2022.469

Abstract

In order to solve the current problem of a single oral motion mode for the humanoid expression robot, a novel multi degree of freedom (DOF) bionic jaw mechanism was designed based on the anatomical motion mechanism of the human jaw. The inverse kinematics model of the mechanism was established, and the motion mode of the mechanism was analyzed to realize the multi DOF motion of the bionic jaw mechanism in space. A multi rigid body simulation of the bionic jaw mechanism was conducted, whose feasibility was verified by the experiments. The simulation and experimental results demonstrate that, based on the inverse kinematics model, the mechanism designed is able to simulate the three basic motion modes of human jaw, including open-close movement, protrusion movement, and side shifting movement, as well as the complex oral motion modes including chewing and lip biting. Therefore, the proposed mechanism can compensate for the limits of oral movement patterns of the existing humanoid robots.

Key words： bionic jaw; bionic robot; expression robot; mechanism design; inverse kinematic analysis

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