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Research on Construction of a Flexible Human-Robot Interface

柔性人机界面构建研究

基本信息

批准号：
11650272
负责人：
SAKANE Shigeyuki
金额：
$ 2.3万
依托单位：
CHUO 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 2001
项目状态：
已结题

项目摘要

We have developed a human-robot interface system, PARTNER, that takes into account the flexibility of the Augmented Reality approach. The prototype consists of a projector subsystem for information display and a real-time tracking vision subsystem to recognize the human's action. In this project, we have developed two new functions, Interactive Hand Pointer and Adaptive Annotation Function.The Interactive Hand Pointer is used for selecting objects or positions in the environment via the operator's hand gestures. The system visually tracks the operator's pointing hand and projects a mark at the indicated position using an LCD projector. Since the mark can be observed directly in the real work space without monitor displays or HMDs, correction of the indicated position by moving the hand is very easy for the operator. The Adaptive Annotation, Function has been developed for teaching and assisting the human's task. Based on a state transition diagram, the system generates annotations adaptively to the situation by monitoring not only changes of the object's geometry but also the operator's action required for achieving the task. Experimental results of an unfolding task of a portable OHP device demonstrate the usefulness of the proposed system.Moreover, we have developed a view-based visual tracking system not only to cope with change of the appearance of the template in a 3D environment but also to cope with occlusion which is a problem in cooperatively handling objects between humans and robots. We proposed tessellated template method" to detect occlusion based on an evaluation of correlation errors in the tessellated template. Experiments of hand-over action between human and robot demonstrate usefulness of the visual tracking system.

我们已经开发了一个人机界面系统，合作伙伴，考虑到增强现实方法的灵活性。该系统由投影仪子系统和实时跟踪视觉子系统组成，投影仪子系统用于信息显示，实时跟踪视觉子系统用于识别人的动作。在这个项目中，我们开发了两个新的功能，交互式手指针和自适应注释功能。交互式手指针用于通过操作者的手势选择环境中的对象或位置。该系统可在视觉上跟踪操作员的手指，并使用LCD投影仪在指示位置投影标记。由于可以在没有监视器显示器或HMD的情况下在真实的工作空间中直接观察标记，因此对于操作者来说，通过移动手来校正指示位置是非常容易的。自适应注释功能已开发用于教学和辅助人类的任务。基于状态转换图，该系统生成的注释自适应的情况下，不仅监测对象的几何形状的变化，但也实现任务所需的操作员的行动。便携式OHP设备的展开任务的实验结果证明了所提出的系统的实用性。此外，我们已经开发了一个基于视图的视觉跟踪系统，不仅要科普在3D环境中的模板的外观变化，但也要科普遮挡这是一个问题，在人类和机器人之间的合作处理对象。提出了一种基于相关误差估计的遮挡检测方法--镶嵌模板法。人与机器人之间的交接动作的实验证明了视觉跟踪系统的有效性。