Research on a Robot that Operates Based on a Dialog with a User.

基于与用户对话的机器人的研究。

• 批准号: 13650279
• 负责人: MIURA Jun
• 金额: $ 2.24万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650279/
• 关键词: Personal service robot; Object model generation and recognition; Interactive object recognition; Dialog generation; Robust speech recognition; Teaching; Mobile manipulator; 物体認識; インタラクティブビジョン; 会話認識; 辞書獲得; センサベーストマニピュレーション; 作業移動ロボット

As we are facing the "aging society", the need for such personal service robots which can help human in various everyday situations is increasing. We are developing a prototype of personal service robot that is able to fetch a can from a distant refrigerator. We have performed the research on the following functions required for such service robots:Easy teaching of mobile manipulator: Usually service robots have to deal with much wider range of tasks than industrial ones. An easy, user-friendly teaching method is, therefore, desirable for such service robots. We developed the following teaching method. A user teaches the robot a nominal trajectory of the hand and its tolerance to achieve a task. The robot searches for a feasible trajectory within the given tolerance; it also generates the movement of the mobile base if necessary. Since the user only needs to consider the movement of the hand, the method is well intuitive and does not require much effort from a user; in addition, the robot does not need much computation for trajectory generation because a nominal trajectory is given.Interactive object recognition: The robot basically recognizes cans and bottles using color information. If the robot failed to find a target object, it tries to obtain additional information by a dialog with a user. The robot generates a good question which can retrive informative answers from the user; this is a key to a smooth interaction between the robot aud the user.Robust speech recognition: Many existing dialog-based interface systems assume that a speech recognition (sub)system always works well. However, since the dialog with a robot is usually held in environments where various noises exist, such an assumption cannot be made. We have developed a method for estimating the meaning of unidentified words from the (mistakenly) recognized words, the identified words before and after the unidentified one, and the state of the dialog.

随着我们面临“老龄化社会”，对这种可以在各种日常情况下帮助人类的个人服务机器人的需求正在增加。我们正在开发一种个人服务机器人原型，它能够从远处的冰箱中取出罐头。我们已经进行了以下功能所需的服务机器人的研究：易于教学的移动的机械手：通常服务机器人必须处理更广泛的任务比工业的。因此，这种服务机器人需要一种简单、用户友好的教学方法。我们开发了以下教学方法。用户教导机器人手的标称轨迹及其公差以完成任务。机器人在给定的公差范围内搜索可行的轨迹;必要时，它还生成移动的基座的运动。由于用户只需要考虑手的运动，因此该方法直观性好，不需要用户太多的努力;此外，由于给出了标称轨迹，因此机器人不需要太多的计算来生成轨迹。交互式物体识别：机器人基本上使用颜色信息来识别罐子和瓶子。如果机器人未能找到目标对象，它会尝试通过与用户对话来获取其他信息。机器人生成一个很好的问题，可以从用户检索信息的答案，这是一个机器人之间的顺利互动的关键aud user.Robust语音识别：许多现有的基于对话的接口系统假设，语音识别（子）系统总是工作良好。然而，由于与机器人的对话通常在存在各种噪声的环境中进行，因此不能做出这样的假设。我们已经开发了一种方法，用于估计未识别的单词的含义从（错误）识别的单词，识别的单词之前和之后的未识别的一个，和对话的状态。

项目成果

Y. Makihara, M. Takizawa, N. Shimada, and Y. Shirai: "Object Recognition in Various Lighting Conditions"Proc. of the 13th Scandinavian Conf. on Image Analysis. to appear. (2003)

Y. Makihara、M. Takizawa、N. Shimada 和 Y. Shirai：“各种照明条件下的对象识别”Proc。

Y.Makihara, M.Takizawa, K.Ninokata, Y.Shirai, J.Miura, N.Shimada: "A Service Robot Acting by Occasional Dialog-Object Recognition Using Dialog with User and Sensor-Based Manipulation"J. of Robotics and Mechatronics. 14・2. 124-132 (2002)

Y.Makihara、M.Takizawa、K.Ninokata、Y.Shirai、J.Miura、N.Shimada：“使用基于用户和传感器的操作的对话进行偶尔对话对象识别的服务机器人”J.机电一体化。124-132（2002）

Y. Makihara, M. Takizawa, Y. Shirai, J. Miura, and N. Shimada: "Object Recognition Supported by User Interaction for Service Robots"Proc. of the 16th Int. Conf. on Pattern Recognition. 561-564 (2002)

Y. Makihara、M. Takizawa、Y. Shirai、J. Miura 和 N. Shimada：“服务机器人用户交互支持的对象识别”Proc。

Y.Makihara et al.: "Object Recognition Supported by User Interaction for Service Robots"Proc. 5th Asian Conf. on Computer Vision. 719-724 (2002)

Y.Makihara 等人：“服务机器人用户交互支持的对象识别”Proc。

J.Miura, Y.Shirai, N.Shimada, Y.Makihara, M.Takizawa, Y.Yano: "Development of a Personal Service Robot with User-Friendly Interfaces"Proc. of the 4th Int. Conf. on Field and Service Robots. (to appear). (2003)

J.Miura、Y.Shirai、N.Shimada、Y.Makihara、M.Takizawa、Y.Yano：“开发具有用户友好界面的个人服务机器人”Proc。