Motion similarity comprehensive evaluation of humanoid robot arm based on dynamic comprehensive evaluation method

摘要

The purpose of this paper is to propose a suitable comprehensive evaluation method for motion similarity comprehensive evaluation of humanoid robot. Different humanoid robot operation tasks with different complexity degree were selected. The indexes of humanoid robot arm motion were used in the fields of robotics and ergonomics. A static comprehensive evaluation model was established based on the projection pursuit evaluation method. However, the static evaluation model is only suitable for single time point evaluation without the time dimension. A dynamic comprehensive evaluation method, based on the projection pursuit evaluation method with information entropy and time degrees, was proposed by linearly weighting the index weight of the static model at each time point according to the timing-weighted vectors. The comparison between the motion similarity comprehensive evaluation results obtained from the static and the dynamic comprehensive evaluation models demonstrated that the similarity in motion based on the dynamic comprehensive evaluation model is higher. The comparison of the reliability, similarity, and dispersion between the static and the dynamic comprehensive evaluation models showed that the dynamic comprehensive evaluation result had better accuracy, stability, and lower dispersion, and the result was more reasonable and credible. Therefore, the dynamic comprehensive evaluation method proposed in this paper is more suitable for the motion similarity comprehensive evaluation of humanoid robot arm.