Tele-operation of service robots by non-Japanese interactive teaching

非日语互动教学远程操作服务机器人

基本信息

批准号：
11650273
负责人：
KOBAYASHI Hisato
金额：
$ 1.98万
依托单位：
Hosei University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

项目摘要

This study tried to build a human friendly interface for tele-robots. The situation considered here is as follows. Non-Japanese control robots located in Japan from overseas for giving cares to Japanese elderly. In such case, the operators have complete different cultural background from Japanese, thus quite user-friendly interfaces are absolutely necessary to realize such tele-caring. This study took two approaches :1) Verbal Communication : Simple verbal sentences may have no problems to interpret. Thus, we tried to control the remote robot by simple daily verbal communication.2) Physical Motion : Physical motion itself has some meanings, thus we tried to retrieve some meaning from the operators' motion.In the first approach, we treat nouns in the sentence as the most important items. In place of saying daily conversation, operators indicate the objects(nouns) in the screen by computer mouse, which the operator planned to say in his/her conversation. The developed interface rebuilds several appropriate candidates that might be robot-operation commands of operators' intention. By choosing one of them, the desired task will be executed. This study also developed a practical way to manipulate the object indicated by the remote operators. The crucial points are to know the real location of the object and the way to handle it. A machine vision technique and data-base technique resolved these problems. In the second approach, we succeeded to identify the basic intention of operators when they move their arms. Namely we could distinguish three different intention included in the arm motion : touch, hit or push. This approach is quite robust against delays in communication channels.

这项研究试图为电信机器人建立人类友好的界面。这里考虑的情况如下。非日本控制机器人来自海外的日本，以照顾日本老年人。在这种情况下，运营商与日本人具有完全不同的文化背景，因此，非常必要的界面对于实现这种电视播放是绝对必要的。这项研究采用了两种方法：1）口头交流：简单的口头句子可能没有问题要解释。因此，我们试图通过简单的每日口头交流来控制远程机器人。2）身体运动：身体运动本身具有一些含义，因此我们试图从操作员的运动中检索一些含义。在第一种方法中，我们将句子中的名词视为最重要的项目。代替每日对话，操作员用计算机鼠标指出了屏幕上的对象（名词），该操作员计划在他/她的对话中说。开发的界面重建了几个适当的候选者，这些候选者可能是操作员意图的机器人操作命令。通过选择其中一个，将执行所需的任务。这项研究还开发了一种操纵远程操作员指示的对象的实用方法。关键点是了解对象的真实位置以及处理该物体的方法。机器视觉技术和数据库技术解决了这些问题。在第二种方法中，我们成功地确定了操作员移动武器时的基本意图。也就是说，我们可以区分手臂运动中包含的三种不同意图：触摸，命中或推动。这种方法在沟通渠道中的延迟非常强大。