CPC G05B 19/4086 (2013.01) [G05B 19/4155 (2013.01); G06F 18/214 (2023.01); G06F 18/22 (2023.01); G06N 3/08 (2013.01); G06V 10/764 (2022.01); G06V 20/10 (2022.01); G06V 20/647 (2022.01); G06V 40/20 (2022.01); G05B 2219/33027 (2013.01); G05B 2219/50391 (2013.01)] | 20 Claims |
1. A computer-implemented action imitation method for a robot, comprising steps of:
collecting at least a two-dimensional image of a to-be-imitated object;
obtaining two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and a pairing relationship between key points of the to-be-imitated object, wherein the pairing relationship between the key points of the to-be-imitated object is for representing a relative positional relationship between adjacent joints; and
converting the two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image into space three-dimensional coordinates corresponding to the key points of the to-be-imitated object through a pre-trained first neural network model, and generating an action control instruction of the robot based on the space three-dimensional coordinates corresponding to the key points of the to-be-imitated object and the pairing relationship between the key points, wherein the action control instruction is for controlling the robot to imitate an action of the to-be-imitated object;
wherein the step of obtaining the two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and the pairing relationship between the key points of the to-be-imitated object comprises:
inputting the two-dimensional image into a pre-trained second neural network model, and obtaining the two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and the pairing relationship between the key points of the to-be-imitated object outputted by the pre-trained second neural network model.
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