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Distributed System for Support of Assistive Robot Control by the use of Object-Oriented Language

使用面向对象语言支持辅助机器人控制的分布式系统

基本信息

批准号：
06680858
负责人：
MIYAMOTO Hiroyuki
金额：
$ 1.41万
依托单位：
Chiba Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1994
资助国家：
日本
起止时间：
1994 至 1995
项目状态：
已结题

项目摘要

The goal of this research is to develop a supporting environment for control of assistive robots which may be used by handicapped or aged people, or by those who take care of them. To control robots, Smalltalk, an object - oriented language, has been chosen because of its flexibility of programing, and the ease of programming environment.By the use of characteristics of Smalltalk, the programming becomes much easier than ever, and some modifications of program on site by the end users become possible. The use of voice recognition system to control the robot has been evaluated : by combining the advantage of Smalltalk, the recognition rate of voice command become higher as there is less ambiguity. The use of glove-type input device has also been tested : it is suitable to command the movement, rather than quantitative input parameters. With glove-type input device, the trajectories of robot movements become more smooth.Finally the command of robots has been evaluated on computer network supporting a remote maintenance of software, which become more realistic when the Internet enters in the daily life. The performance of robot control has been compared in three cases : control of the robot by local computer, command of the robot by remote computer by step by step command, and control of the robot by remote computer by a batch command. Some useful results on the use of remote computer by a batch command. Some useful results on the use of remote software maintenance have been obtained.

本研究的目的是开发一个辅助机器人控制的支持环境，可用于残疾人或老年人，或由那些谁照顾他们。采用面向对象的语言Smalltalk进行机器人控制，由于Smalltalk具有编程灵活、编程环境简单的特点，使得编程变得更加容易，并使用户可以在现场对程序进行修改。使用语音识别系统控制机器人进行了评估：通过结合Smalltalk的优点，语音命令的识别率变得更高，因为有较少的歧义。手套式输入装置的使用也经过了测试：它适合于指令运动，而不是定量输入参数。通过手套式输入装置，机器人的运动轨迹变得更加平滑。最后在计算机网络上对机器人的命令进行了评估，支持远程维护的软件，当互联网进入日常生活中时，这变得更加现实。机器人控制的性能进行了比较，在三种情况下：由本地计算机控制的机器人，命令的机器人由远程计算机的一步一步的命令，和控制的机器人由远程计算机的批处理命令。通过批处理命令使用远程计算机的一些有用的结果。对远程软件维护的使用取得了一些有益的结果。