Action imitation method and robot and computer readable storage medium using the same

A robot, comprising:

• a processor;
• a memory coupled to the processor;
• at least an image collecting device coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for collecting, through the image collecting device, at least a two-dimensional image of a to-be-imitated object;
• instructions for 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
• instructions for 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 instructions for 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 comprise:
• instructions for 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.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for collecting at least a two-dimensional image of a to-be-imitated object;
• instructions for 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
• instructions for 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 a 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 instructions for 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 comprise:
• instructions for 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.