Prediction of Target Object Based on Human Hand Movement for Handing-Over between Human and Self-Moving Trays
Prediction of Target Object Based on Human Hand Movement for Handing-Over between Human and Self-Moving Trays
复制标题
基于人类手部运动的目标物体预测，用于人类与自动移动托盘之间的交接
DOI：
10.1109/roman.2006.314416
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
T. Arai
中科院分区：
文献类型：
--
作者：
Y. Tamura;M. Sugi;J. Ota;T. Arai
我们的目标是实现一个机器人系统，当他/她试图伸手去拿一个必要的物体时，他/她就把它交给用户。为了实现这样的系统，需要以下内容：1）检测到的到达运动，2）预测多个物体中的目标物体，3）把物体交给用户。在本文中，他们的前两个描述和讨论。我们应用手运动的平滑度和速度来区分运动是否是为了达到或没有。为了预测目标物体，我们根据手与每个物体的相对运动定义了确定性。为了评估所提出的方法的性能，我们比较的方法与最小加加速度模型为基础的方法。实验结果的描述证明了本文提出的方法的有效性
We aim to realize a robotic system that hands over a necessary object to a user as soon as he/she attempts to reach out for it. In order to realize such system, the following is required: 1) detection of the reaching movement, 2) prediction of the target object among multiple objects, and 3) handing over the object to a user. In this paper, the first two of them are described and discussed. We apply the smoothness and the speed of the hand movement to distinguish whether the movement is for reaching or not. And in order to predict the target object, we define the certainty according to the relative movement of the hand to each object. To evaluate the performance of the proposed method, we compare the method with the minimum jerk model based approach. A description of the experimental results demonstrates the usefulness of the method proposed here