Influence of the Size Factor of a Mobile Robot Moving Toward a Human on Subjective Acceptable Distance
Influence of the Size Factor of a Mobile Robot Moving Toward a Human on Subjective Acceptable Distance
复制标题
移动机器人向人类移动的尺寸因素对主观可接受距离的影响
DOI：
10.5772/26512
复制
发表时间：
2011
影响因子：
2.1
通讯作者：
Akinori Ito
中科院分区：
文献类型：
--
作者：
Y. Hiroi;Akinori Ito
在人类周围工作的服务机器人预计将在未来十年内普及。早在20世纪80年代，就有许多用于开发自主移动的机器人的工作。例如，Crowley开发了智能移动的平台（IMP），它根据给定的命令在已知的域中移动（Crowley，1985）。早期作品的问题是如何在房间里导航机器人。HelpMate（Evans等人，1989）是一种移动的平台，旨在用于医院中，用于携带医疗记录、餐盘、药物等。在20世纪90年代，开发了配备有操纵器并执行诸如移动物体的任务的机器人。Bishoff（1997）开发了一种名为爱马仕的移动的机器人，它是一种上半身人形机器人，配备有两个带手的手臂和一个全方位的车辆。爱马仕使用立体视觉识别周围的物体，并执行将物体从一个地方移动到另一个地方等任务。最近，已经积极地开发了能够使用三维距离传感器和更强大的致动器来执行更复杂的任务的服务机器人（Borst等人，2009; Graf等人，2009; Droeschel等人，2011年）。沿着这种服务机器人的发展，已经举办了服务机器人竞赛，诸如RoboCup@Home League（RoboCup Federation，2011），其中移动的服务机器人在类似家庭的环境中竞争任务执行的准确性、鲁棒性和安全性。我们还开发了一种名为IRIS的实验护理服务机器人（Hiroi等人，2003年）。该机器人通过语音对话和面部识别来理解患者的命令，并在真实的环境中执行几项护理任务，例如搬运瓶子或打开/关闭窗帘。IRIS的另一个特征是其安全性; IRIS配备有各种用于身体安全的装置，例如具有扭矩限制器的臂（Jeong等人，2004年）。安全性是这种机器人最重要的问题，已经有许多关于为人类保持机器人安全的研究。在这里，我们考虑两种“安全”。第一个是避免机器人和人类之间碰撞的物理安全;物理安全是移动的机器人在人类周围工作的最重要要求。另一个是精神安全，也就是保证机器人不会吓到周围的人，精神安全和身体安全一样重要;如果机器人的外表或行为令人恐惧，即使它在身体上无害，也不会被人们接受。
Service robots working around humans are expected to become widespread in the next decade. There have been numerous works for developing autonomous mobile robots, starting as early as the 1980s. For example, Crowley developed the Intelligent Mobile Platform (IMP) which moved around a known domain according to given commands (Crowley, 1985). The issue in the earlier works was how to navigate a robot in a room. HelpMate (Evans et al., 1989) was a mobile platform intended to be used in hospitals for carrying medical records, meal trays, medications, etc. In the 1990s, robots were developed which were equipped with manipulators and executed tasks such as moving objects. Bishoff (1997) developed a mobile robot called HERMES, which is an upper-body humanoid equipped with two arms with hands and an omni-directional vehicle. HERMES recognizes objects around it using stereo vision, and executes tasks such as moving an object from one place to another. Recently, service robots that can execute more complicated tasks using three-dimensional distance sensors and more powerful actuators have been actively developed (Borst et al., 2009; Graf et al., 2009; Droeschel et al., 2011). Along with the development of such service robots, service robot contests have been held such as RoboCup@Home League (RoboCup Federation, 2011), in which mobile service robots compete for accuracy, robustness and safety of task execution in home-like environments. We have also developed an experimental care service robot called IRIS (Hiroi et al., 2003). This robot understood a patient’s commands through spoken dialogue and face recognition, and performed several care tasks such as carrying bottles or opening/closing curtains in a real environment. The other feature of IRIS was its safety; IRIS was equipped with various devices for physical safety, such as arms with torque limiters (Jeong et al., 2004). Safety is the most important issue for this kind of robot, and there have been many studies on keeping a robot safe for humans. Here, we consider two kinds of “safety.” The first one is the physical safety of avoiding collisions between a robot and humans; physical safety is the most important requirement for a mobile robot working around humans. The other is mental safety, which means ensuring that the robot does not frighten people around it. Mental safety is as important as physical safety; if a robot’s appearance or behavior is frightening, it will not be accepted by people even if it is physically harmless.
影响因子：
9.2
作者：
Ikuta, K;Ishii, H;Nokata, M
通讯作者：
Nokata, M
DOI：
10.1108/01439910110410051
发表时间：
2001-01-01
期刊：
INDUSTRIAL ROBOT
影响因子：
--
作者：
Ishiguro, H;Ono, T;Nakatsu, R
通讯作者：
Nakatsu, R