Reactive robot system using a haptic interface: an active interaction to transfer skills from the robot to unskilled persons
Reactive robot system using a haptic interface: an active interaction to transfer skills from the robot to unskilled persons
复制标题
使用触觉界面的反应式机器人系统：主动交互，将机器人的技能转移给非技术人员
DOI：
10.1163/156855307780131992
复制
发表时间：
2007
影响因子：
2
通讯作者：
M. Bergamasco
中科院分区：
文献类型：
--
作者：
J. Solis;S. Marcheschi;A. Frisoli;C. Avizzano;M. Bergamasco
本文关注的是反应式机器人系统（RRS），它已被引入作为一种新的方式接近人与机器人的互动，通过利用触觉接口的能力，以转移技能（从机器人到不熟练的人）。RRS是基于两个层次的互动来实施的。第一级实现学习过程的前两个阶段，表示响应于某些预定义的动态规则（被动交互）的接触位置的静态读取而交换一组力的常规控制方式。第二层实现了学习过程的最后一个阶段，代表了触觉界面和人类之间交互的增强方式。这个级别为机器人系统增加了一定程度的智能，使机器人能够根据用户的意愿动态地调整其行为（主动交互）。特别是，在本文中，第二层的RRS的实现进行了详细说明。进行了一组实验，适用于日本的笔迹，以验证如果第二级的RRS可以与人类在自主阶段的学习过程中进行互动。结果表明，我们的系统仍然可以提供帮助，用户在自主阶段，同时大多尊重他们的意图，而不会显着影响他们的表现。
This paper is concerned with the reactive robot system (RRS) which has been introduced as a novel way of approaching human–robot interactions by exploiting the capabilities of haptic interfaces to transfer skills (from the robot to unskilled persons). The RRS was implemented based on two levels of interaction. The first level, which implements the first two stages of the learning process, represents the conventional control way of interchanging a set of forces in response to a static read of the contact position of some pre-defined dynamic rules (passive interaction). The second level, which implements the last stage of the learning process, represents an enhanced way of interaction between haptic interfaces and humans. This level adds to robotic system a degree of intelligence which enables the robot to dynamically adapt its behavior depending on user wishes (active interaction). In particular, in this paper, the implementation of the second level of the RRS is described in detail. A set of experiments was performed, applied to Japanese handwriting, to verify if second level of the RRS can interact with humans during the autonomous stage of the learning process. The results demonstrated that our system can still provide assistance to users on the autonomous stage while mostly respecting their intentions without significantly affecting their performance.