通过生物力学视角优化机器人运动规划，提升柔顺性与适应性。
Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning
- 基于人体协调与柔顺机制构建最优控制框架
- 通过时间矩阵参数化实现轨迹优化，兼顾精度与柔顺
- 适用于需应对干扰的机械臂与人形机器人
本文从生物力学角度重新审视人类运动特性，分析人体动作中主动与被动关节的协同与柔顺机制。在此基础上，提出一种融合柔顺控制动力学的最优控制框架，通过响应时间矩阵设定关节运动时序，将系统转化为时间参数化的最优控制问题。该模型重点关注外部扰动下主动与被动关节间的交互，显著提升系统的适应性与柔顺性。实验在机械臂与人形机器人上验证了该方法的有效性，实现了最优轨迹生成，并在精度与柔顺性之间取得良好平衡。
原文摘要 · Abstract (English)
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we propose an optimal control framework that integrates compliant control dynamics, optimizing robotic arm motion through a response time matrix. This matrix sets the timing parameters for joint movements, turning the system into a time-parameterized optimal control problem. The model focuses on the interaction between active and passive joints under external disturbances, improving adaptability and compliance. This method achieves optimal trajectory generation and balances precision and compliance. Experimental results on both a manipulator and a humanoid robot validate the approach.
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