基于交互触觉大脑表征机理的仿人机器人仿生触觉研究

项目名称： 基于交互触觉大脑表征机理的仿人机器人仿生触觉研究

项目编号： No.61473043

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化学科

项目作者： 吴景龙

作者单位： 北京理工大学

项目金额： 78万元

中文摘要： 仿人机器人从外形、举止等方面与人类极为相似，具有很好的亲和性。为了使仿人机器人进入家庭和医院从事护理工作，要求仿人机器人具有人类自然的、具有自主触觉交互能力。解决仿人机器人的仿生触觉机理，建模等基础理论和关键技术，是解决机器人与人触觉自主交互的必要前提。目前国内外对于仿人机器人仿生触觉的研究刚起步，但考虑具有人触觉大脑信息处理机制和思维特性的仿人机器人仿生触觉设计理论与方法的研究还未开展，这是一个亟待解决的基础科学问题。 本项围绕仿人机器人仿生触觉控制基础理论与方法，重点研究人与人交互触觉大脑表征机理，建立交互触觉大脑表征模型和思维模型，形成模拟人思维的触觉模糊数学模型。结合交互触觉模糊数学模型，将脑科学与机器人触觉控策略中的比较、判断、决策等概念和方法有效融合,提出仿人机器人仿生触觉控制策略，提高机器人的自主触觉交互能力，为具有自主触觉交互能力的护理型仿人机器人的研发和应用奠定理论基础。

中文关键词： 仿人机器人；仿生触觉；交互触觉；大脑表征机理；触觉控制

英文摘要： Humanoid robots are highly similar to human beings in appearance, behaviors, facial expressions. Compared with other forms of robots, they look more friendly. In order to expand the utilization of humanoid robots and let them play a key role in our daily lives, they should have the same communication capabilities as humans, for example, haptics interaction.To solve the bionic humanoid robot tactile mechanism, modeling on the fundamental theories and key technologies, is to solve human machine interaction touch independent of the necessary premise for the humanoid robot at home and abroad bionic tactile research has just started, but considering a person touch brain information processing mechanism and thinking characteristics of the humanoid robot tactile bionic design theory and method of the research have not been carried out, this is a basic scientific problems urgently to be solved. This project focuses on the basic theory of bionic haptics in controlling humanoid robot. The key issues lie in researching the theory of interaction between touch and brain representation; establishing the models of interactive brain representation and thinking; forming the simulated think-touch and fuzzy mathematics model. Using the new types of sensing materials and sensors with interactive think-touch fuzzy mathematical model, we realize the effective performance of humanoid robot bionic haptics control with the integration of brain science and robot tactile control strategy, which consists of memory, operation, comparative, identification, judgment, and decision-making concepts and methods. The solutions of these issues can improve humanoid robot's robustness in the complex environment and lay the foundation for the application of humanoid robot.

英文关键词： Humanoid robot;Bionic haptic;Intra-active touch;Brain representation mechanism;Haptic controlling method