Extraction and Implementation of Cooperative Behavioral Decision Rules of Human into Robot by Using Tele-operation System with Immersive Vision

为了建立自主移动机器人的行为决策程序，人们采用了基于动力学、几何、统计学等多种算法。然而，开发这样的算法有几个困难。在本项目中，作为自主机器人程序构建的另一种方法，研究了协作人类决策规则的提取及其在机器人中的实现，并开发了沉浸式远程控制系统。该系统可以让操作员虚拟地了解机器人的物理特征。机器人上的全方位摄像头拍摄的图像被转换为透视图像，并投影到操作员周围的三个屏幕上。这使操作员能够获得机器人周围的视觉信息，就像他/她骑在机器人上一样。操作者可以通过操纵杆向机器人发送命令，利用该系统进行了多个实验，以提取人类决策规则的移动动作。从人的操作角度分析，我们将重点放在投影到每个屏幕上的建筑面积作为环境信息。这些外部信息与人类行为(操纵杆的输入)之间的对应关系被定义为“人类决策规则”。由于人类操作的间断性和非线性，很难用单一的函数来表示人类的操作。因此，将人类行为划分为若干操作模式，并将其对应关系存储在数据库中。在实现该对应关系数据库后，机器人的运动呈现出一些与人类操作的机器人相似的运动规律。

In order to build programs of behavioral decision for autonomous mobile robots, various type of algorithms based on dynamics, geometry, statistics and so on have been adopted. However, there are several difficulties to develop such algorithms. In this project, as another approach to building programs for autonomous robots, the extraction of cooperative human decision rules and the implementation of them into a robot are studied.As preparation for that, the immersive remote control system has developed. This system can give an operator the physical feature of the robot virtually. Image taken with omni-directional camera on the robot is transformed into perspective image and is projected onto the three screens around the operator. This enables the operator to get visual information around the robot as if he/she rides on the robot. The operator can send commands to the robot by using a joystick.By using this system, several experiments are carried out to extract human decision rules moving action. From the analysis of human operation, we focus on the floor area projected onto the each screens as environmental information. The corresponding relation between these external information and human behaviors (input for the joystick) is defined as "human decision rules". Because of discontinuity and nonlinearity of human operation, it is so difficult to represent human operation by a single function. Therefore, human behavior is divided into some operation patterns and the corresponding relations are stored as database. After the implementing of this database of corresponding relations, the motions of the robot show some patterns which are similar to those of the robot operated by human.