Commanding a humanoid to move objects in a multimodal language
Commanding a humanoid to move objects in a multimodal language
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用多模态语言命令人形机器人移动物体
DOI：
10.1007/s10015-010-0758-y
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发表时间：
2010
影响因子：
0.9
通讯作者：
横田将生
中科院分区：
文献类型：
--
作者：
岡 哲資 ;阿倍豊和;杉田薫;横田将生
本文介绍了一种仿人机器人的研究，移动对象在其用户的请求。机器人理解多模态语言中的命令，该语言结合了口头消息和两种类型的手势。所有10名新手用户都使用手势指导机器人，当他们被要求在短时间内学习语言后自发地指导机器人移动物体时。多模式命令的成功率超过90%，用户顺利完成任务。他们认为手势比口头短语更可取，并且与口头短语一样简单，可以告知机器人动作参数，如方向，角度，步骤，宽度和高度。研究结果表明，这种语言对于非专家来说相当容易学习，并且可以通过使语言更加复杂和改进我们的手势检测器来更有效地指导类人机器人移动物体。
This article describes a study on a humanoid robot that moves objects at the request of its users. The robot understands commands in a multimodal language which combines spoken messages and two types of hand gesture. All of ten novice users directed the robot using gestures when they were asked to spontaneously direct the robot to move objects after learning the language for a short period of time. The success rate of multimodal commands was over 90%, and the users completed their tasks without trouble. They thought that gestures were preferable to, and as easy as, verbal phrases to inform the robot of action parameters such as direction, angle, step, width, and height. The results of the study show that the language is fairly easy for nonexperts to learn, and can be made more effective for directing humanoids to move objects by making the language more sophisticated and improving our gesture detector.