Tactile gestures for human/robot interaction
Tactile gestures for human/robot interaction
复制标题
用于人/机器人交互的触觉手势
DOI：
10.1109/iros.1995.525854
复制
发表时间：
1995
期刊：
影响因子：
--
通讯作者：
P. Khosla
中科院分区：
文献类型：
--
作者：
R. Voyles;P. Khosla
基于手势的编程是减轻机器人编程负担的一种新范式。通过利用用户在联系人转换、合规性、不确定性和操作顺序方面的丰富经验，我们希望为基于非语言沟通的表达能力的复杂现实任务提供更直观的编程环境。要做到这一点，一个要求是能够解释手势，以推断背后的意图。作为实现这一目标的第一步，本文提出了一个分布式感知的应用程序，通过观察触觉手势推断用户的意图。这些姿态包括稀疏的，不精确的，物理的“轻推”应用到机器人的末端执行器的目的是修改其在自由空间中的轨迹。一组独立的代理-每个代理都有自己的本地，模糊化，启发式模型的特定轨迹参数，观察来自腕力/扭矩传感器的数据，以评估手势。然后，代理独立地确定其各自调查结果的置信度，分布式仲裁通过投票解决解释。
Gesture-based programming is a new paradigm to ease the burden of programming robots. By tapping in to the user's wealth of experience with contact transitions, compliance, uncertainty and operations sequencing, we hope to provide a more intuitive programming environment for complex, real-world tasks based on the expressiveness of nonverbal communication. A requirement for this to be accomplished is the ability to interpret gestures to infer the intentions behind them. As a first step toward this goal, this paper presents an application of distributed perception for inferring a user's intentions by observing tactile gestures. These gestures consist of sparse, inexact, physical "nudges" applied to the robot's end effector for the purpose of modifying its trajectory in free space. A set of independent agents-each with its own local, fuzzified, heuristic model of a particular trajectory parameter observes data from a wristforce/torque sensor to evaluate the gestures. The agents then independently determine the confidence of their respective findings and distributed arbitration resolves the interpretation through voting.