Human intention based physical support robot system in assembling work. Extraction of behaviour support trigger from "Work Triangle"
Human intention based physical support robot system in assembling work. Extraction of behaviour support trigger from "Work Triangle"
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基于人类意图的装配工作物理支持机器人系统。
DOI：
10.1109/iros.1998.727319
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
--
作者：
Y. Hayakawa;I. Kitagishi;S. Sugano
为了实现人机协作机器，机器理解人类意图的能力成为一个重要的问题。本文提出了一种从人的头和手组成的“工作三角”形状中提取人的意图的方法。构建了一个利用视觉传感器对装配过程中的工作三角进行采样的系统。利用该系统对不同技术对象的工作三角模式进行了采样。使用Kohonen神经网络对工作三角的模式进行分类。研究了熟练和不熟练受试者之间的分类模式。只出现在不熟练的被试身上的模式被提取为“需要支持”的状态。构建了以“需要支持”状态进行支持的实物支持原型系统。
In order to realise human cooperative machinery, the machine's ability of understanding human intention becomes an important issue. This paper proposes a method of extracting human intention from the shape of Work Triangle, which consists of head and hands of the human. A system, which samples the Work Triangle during assembly work by vision sensors, was constructed. With the system, the patterns of the Work Triangle of different skilled subjects were sampled. A Kohonen neural network was used for categorising the patterns of the Work Triangle. The categorised patterns between skilled and unskilled subjects were examined. The patterns which only appear in unskilled subjects, were extracted as states of "Needing support". A physical support prototype system, which carries out supports by the "Needing support" state, was constructed.