2A1-E22 ロボットの身体的拘束に注目した状況変化に敏感な動作の評価指標の提案

概要

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Robots need to detect changes in the surrounding environment and select the appropriate response behaviors to achieve their tasks. Conventionally this requires information about both the usual state and the changed environment. This paper proposes a method to identify, using only information from the robot's usual environment, the motions able to sense to environmental changes. We hypothesize that motions sensitive to changes produce sensor pattern observed rarely, mainly because frequent sensor patterns are much more effected by the unchanged robot structures than by the environmental changes. The described experiment shows a high correlation between the rarity of the sensor output pattern in a motion and its change due to environment variations, indicating that the sensor stream collected in the unchanged environment is sufficient to identify the motions able to detect environment changes.
一般社団法人日本機械学会の論文
2009-05-25