基于Blender的羽毛球双足机器人重定向算法
Blender-Based Bipedal Robot Retargeting Algorithm

根据人体下肢结构和在打羽毛球场景下腿部运动的需求，设计了机器人的髋关节、膝关节及踝关节以及双足羽毛球机器人重定向算法。在Blender软件无重力环境下运用运动重定向，将人类在打羽毛球场景下起动步、并步、交叉步的数据映射到双足羽毛球机器人简化模型上。使得机器人简化模型完成了三种步伐运动，获得了各个关节的关键点的信息，并通过转换获得机器人关节角度的帧数据，将所得到的角度值随时间的序列，通过二阶多项式平滑处理，获得双足羽毛球机器人进行三种步伐运动的曲线，验证了结构设计及控制方法的可行性。
According to the structure of the human lower limbs and the needs of leg movement in the badminton scene, the hip, knee and ankle joints of the robot were designed, and the bipedal badminton robot retargeting algorithm was designed, and the motion redirection was used in the gravity-free environment of Blender software to map the data of human starting, parallel and cross steps in the badminton scene to the simplified model of the bipedal badminton robot. The simplified model of the robot completes three kinds of step movements, obtains the information of the key points of each joint, obtains the frame data of the robot joint angle through transformation, and obtains the curves of the bipedal badminton robot to perform three step movements through the second-order polynomial smoothing process, which verifies the feasibility of the structural design and control method.