2A1-C05 インタラクションにおける動作の時空間拘束を見まね学習するヒューマノイドロボット(人間機械協調)

概要

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Robots are expected to work in human society as a solution for shortage of worker in aging society. Generally speaking, it is difficult to design each complex motion by man, which is necessary to work in human society. As one of the solutions for that problem, it is efficient to imitate human's motion. On the other hand, to utilize robots in human society, it is critical that robots generate motion based on external environment, such as interaction motion. Previous researches, however, do not contain the mechanism that generates robot's motion synchronizing to human's motion. This research proposes the interaction system in which a robot synchronizes to human's motion. We model each motion by means of Hidden Markov Model (HMM), by which temporal relationship between those is modeled. In addition, the robot modifies its motion based on human's motion in order to succeed interaction motion.
一般社団法人日本機械学会の論文
2011-05-26