Human-robot collaboration in precise positioning of a three-dimensional object
Human-robot collaboration in precise positioning of a three-dimensional object
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DOI：
10.1016/j.automatica.2008.08.021
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发表时间：
2009-02
期刊：
影响因子：
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通讯作者：
T. Wojtara;M. Uchihara;H. Murayama;S. Shimoda;Satoshi Sakai;H. Fujimoto;H. Kimura
中科院分区：
文献类型：
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作者：
T. Wojtara;M. Uchihara;H. Murayama;S. Shimoda;Satoshi Sakai;H. Fujimoto;H. Kimura
本文论述了在目标上的平面物体的精确定位的人机合作的基本问题。在分析人与人之间交互的基础上，提出了两种协作方案。开发了实现这些方案的几种算法。人/机器人合作的一般理论框架已被开发来代表这些算法。使用我们的内部制作的机器人原型和实验的人类科目进行了评估的算法证明了我们的计划的有效性。主要问题是机器人与人类互动的规则。由于机器人没有距离传感器，它必须依靠与人类交互产生的力和位移信息来理解人类意图。机器人解释这些信号的方式对于平稳的交互至关重要。为了能够执行具体的任务，进行了简化，其中机器人和人类不直接持有物体，而是将物体和各种传感器连接到框架上。
This paper deals with fundamental issues of human–robot cooperation in precise positioning of a flat object on a target. Based on the analysis of human–human interaction, two cooperation schemes are introduced. Several algorithms implementing these schemes are developed. A general theoretical framework for human/robot cooperation has been developed to represent these algorithms. The evaluation of the algorithms was carried out using our in-house made robot prototype and experiments by human subjects has demonstrated the effectiveness of our schemes. The main problem was the regulation of the robot-human interaction. Since the robot has no range sensors, it has to rely on the force and displacement information resulting from the interaction with human to understand human intention. The way the robot interprets these signal is crucial for smooth interaction. To be able to carry out a concrete task a simplification was made, in which robot and human do not directly hold the object but a frame to which the object and various sensors are attached.