Abstract
The present disclosure relates to a method for planning and controlling a humanoid behavior of a robot for close physical interactions, which includes: step S 1 , acquiring demonstration data of close interactions between the robot and human beings through motion capture; step S 2 , obtaining a plurality of human behavior pattern categories based on the demonstration data by using prior knowledge and clustering analysis; step S 3 , segmenting and calibrating the demonstration data based on the plurality of human behavior pattern categories to obtain a plurality of groups of movement primitive sequences including human behavior pattern labels, constructing a hierarchical directed graph, and obtaining a robot behavior planner through training; and step S 4 , constructing a dynamically consistent mapping model between a target trajectory and an action space, and realizing the planning and control of the humanoid behaviors of the robot based on the dynamically consistent mapping model and the robot behavior planner.