In this paper, we propose an imitation system that imitates human motions in videos to plan robot actions that are similar to human motions, with the aim of the complicated whole-body action planning of humanoid robots. Additionally, we created an interaction system that will enable basic human-robot interaction for our humanoid robot. To obtain the 3D coordinates of the key points on the human body, we used the 3D pose estimation model. The key points were then transformed into various trajectory files needed by the robot to complete the motion, using the mapping method proposed in this research, which refers to the control strategy and stability of the robot. In addition, we proposed some post-processing methods to post-process the trajectories. In the interaction system, we created a speech and vision system so that the robot could detect human gestures or postures and converse with people. It also has a music rhythm recognition system developed by seniors that enables the robot to dance to the beats of the song. Finally, through this system, we completed several human-robot interaction scenarios, which proved the convenience, and effectiveness of motion planning with an imitation system, and the completeness of the interaction system.

中文翻译：

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仿人机器人模仿系统及其应用

在本文中，我们提出了一种模仿系统，模仿视频中的人体动作来规划与人体动作相似的机器人动作，目的是对人形机器人进行复杂的全身动作规划。此外，我们创建了一个交互系统，可以为我们的类人机器人实现基本的人机交互。为了获取人体关键点的3D坐标，我们使用了3D姿态估计模型。然后利用本研究提出的映射方法，将关键点转化为机器人完成运动所需的各种轨迹文件，参考机器人的控制策略和稳定性。此外，我们提出了一些后处​​理方法来对轨迹进行后处理。在交互系统中，我们创建了一个语音和视觉系统，以便机器人可以检测到人类的手势或姿势并与人交谈。它还具有由前辈开发的音乐节奏识别系统，可以使机器人随着歌曲的节拍跳舞。最后，通过该系统，我们完成了几个人机交互场景，证明了用模仿系统进行运动规划的便捷性、有效性，以及交互系统的完整性。