Control of Group Robots by a Human Operator

由人类操作员控制群组机器人

• 批准号: 10650253
• 负责人: OTA Jun
• 金额: $ 2.24万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650253/
• 关键词: Human-Robot Interaction; Multiple Mobile Robots; Cooperation; Robot Group Control; Command Level Classification; ロボット工学; マルチエージェントシステム; マニマシンインタフェース

In the near future, mobile robots are expected to undertake. various high-level tasks instead of a human in disadvantageous environments for the human. We think, however, it is not possible for robots to achieve high-level tasks autonomously. Hence, a system in which the human user and the robots interact with each other and achieve the task is more feasible. The human user performs task-planning globally (which requires high-level intelligence), and the robot system supports the user with low-level intelligence. Furthermore, at the present stage of technology, a single robot has poor ability and small adaptability for different environments. Hence cooperation of multiple mobile robots allows many tasks to be performed and improves robustness of the system against faults. Therefore we propose a system for cooperation of robot groups and a human user.Our research contributes :1. to propose an operation method which enables a single human user to easily control multiple mobile robots,2. to build an actual system using commercially available hardware and to show how to operate multiple mobile robots by a single human user by experimentsThe main features of our method are as follows :1. The human user commands not each robot individually, but groups of robots. We classify the available user commands and introduce autonomy into the system to complement the differences between command levels. This' enables systematic command design and shows the necessary autonomy of the system. By combining the command capabilities of the user and the limited autonomy of the system, the user can bring out the capabilities of multi-agent systems.2. We build a system in which the human user and robots achieve tasks cooperatively and have a perspective about operation method for the robots in various environments, such as, industrial fields, home, military operations, and space developing, and network robotics with man-machine interface system

在不久的将来，移动的机器人有望承担。在对人类不利的环境中代替人类完成各种高级任务。然而，我们认为机器人不可能自主完成高级任务。因此，人类用户和机器人彼此交互并完成任务的系统更可行。人类用户执行全局任务规划（这需要高水平的智能），机器人系统支持用户的低水平智能。此外，在目前的技术阶段，单个机器人的能力差，对不同环境的适应性小。因此，多个移动的机器人的协作允许执行许多任务，并且提高了系统对故障的鲁棒性。因此，我们提出了一个系统的机器人群体和人类用户的合作。提出一种使单个人类用户能够容易地控制多个移动的机器人的操作方法。利用商用硬件构建一个实际的系统，并通过实验展示如何由单个人类用户操作多个移动的机器人我们的方法的主要特点如下：1.人类用户不是单独命令每个机器人，而是命令机器人组。我们对可用的用户命令进行分类，并将自治引入系统，以弥补命令级别之间的差异。这使得系统化的指挥设计成为可能，并显示了系统必要的自主性。通过将用户的命令能力和系统有限的自主性结合起来，用户可以发挥出多智能体系统的能力。2.我们建立了一个人类用户和机器人协同完成任务的系统，并对机器人在各种环境中的操作方法进行了展望，例如，工业领域，家庭，军事行动和空间开发，以及具有人机接口系统的网络机器人

项目成果

中村明生: "人間が操作する複数移動ロボットシステムの開発"日本機械学会論文集 (C編). Vol.65 no.638. 4062-4069 (1999)

Akio Nakamura：“由人类操作的多个移动机器人系统的开发”日本机械工程师学会论文集（编辑 C）第 65 卷第 4062-4069（1999 年）。

Beltran-Escavy: "Human-Robot GUI System with Group Control for Multiple Mobile Robot Systems ―Introduction to virtual Constraint―"Int.J.of the Japan Society for Precision Engineering. 33・3. 265-270 (1999)

Beltran-Escavy：“具有多个移动机器人系统群控制的人机交互 GUI 系统——虚拟约束简介——”日本精密工程学会 Int.J. 33・3 (1999)。

Beltran-Escavy, J.: "Human-Robot GUI System with Group Control for Multiple Mobile Robot Systems - Graphic Interface and Comparison with Previous Joystick-based System -"International Journal of the Japan Society for Precision Engineering. Vol. 32 No. 4.

Beltran-Escavy, J.：“具有多个移动机器人系统组控制的人机 GUI 系统 - 图形界面以及与以前基于操纵杆的系统的比较 -”日本精密工程学会国际期刊。

Beltran-Escavy: "Human-Robot GUI System with Group Control for Multiple Mobile Robot Systems"Int.J.of the Japan Society for Precision Enginearing. 32・4. 291-296 (1998)

Beltran-Escavy：“具有多个移动机器人系统群控制的人机交互 GUI 系统”，日本精密工程学会 Int.J. 32・4（1998 年）。

Beltran-Escavy, J.: "Human-Robot GUI System with Group Control for Multiple Mobile Robot Systems - System Monitoring -"International Journal of the Japan Society for Precision Engineering. Vol. 33 No. 2. 149-155 (1999)

Beltran-Escavy, J.：“具有多个移动机器人系统组控制的人机 GUI 系统 - 系统监控 -”日本精密工程学会国际期刊。