Mapping method from human to robot arms with different kinematics

Abstract

The accurate modeling from human arms to humanoid machine arms is the premise of humanoid robot's anthropomorphic compliant movement. In this paper, a mapping method simulating human upper limb motion mechanism is proposed to solve this problem. This method reconstructs the human arm model quickly and maps it to the dual arm robot model. Firstly, the movement mechanism of human upper limb is analyzed and the upper limb model is established. According to the human double arm kinematics theory, the calculation of arm motion rotation center and the analysis of force and torque are carried out. Then the mapping concept is used to start from the human morphological structure, establish a robot model similar to the arm structure and motion of the human hand, and generate the anthropomorphic configuration. At last, the data collected from the movement of human double arms are matched with the robot model, and the experiment verifies the feasibility of the proposed mapping method.