2P1-F01 インタラクションロボットへのBNベース内部モデルの適用(モーションメディア・ロボティクス)

概要

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This paper addresses a motion generation mechanism making use of Bayesian Network-based internal model for Human- Robot-Interaction. Rapid progress of robot technologies will bring a symbiosis society with robot to us in the near future. In such situation, since it is expected that novice users will use the robots, development of easier methods to teach motions to robots will be required. In this research, we propose the internal model based on Bayesian- networks that generates the robot motions, and updating methods of conditional probability tables through interaction with humans. We apply this model to an interaction robot developed in our laboratory to verify effectiveness by experiment.
一般社団法人日本機械学会の論文
2007-05-11