Research on development of task primitives for robots using programming by demonstration in virtual reality

虚拟现实演示编程机器人任务原语开发研究

• 批准号: 18500157
• 负责人: ONDA Hiromu
• 金额: $ 2.53万
• 依托单位: National Institute of Advanced Industrial Science and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2006
• 资助国家: 日本
• 起止时间: 2006 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18500157/
• 关键词: INTELLIGENT ROBOTICS

Robotics research has been applied to various fields recently. Various motions and tasks are realized with various robots including humanoids. Robot programs are different from ordinary programs because some of them(i.e., programs for tasks) are made to achieve goal states for the tasks in the real world. These task programs pose a different "reusability problem" for equivalent execution of a task. The programs for those robots are developed by human programmers, which are developed by trial and error using their experience and knowledge. When other people apply such a program to a different robot and a different environment, it may cause difficulty. Since such a program has an unknown part for others than its programmer in order to reuse and adjust the program, it is difficult for others to modify the program. This problem is concerned with not only the difficulty of commentating appropriately for the program but also the essential difficulty of porting the program using knowledge of a specific robot body in a specific environment to other programs for other robot bodies in other specific environments. In order to deal with this problem, it is important to divide a part of programs that depends on the bodies of the specific robots and the specific environments, extract the part of programs that can be adjusted as parameters, and to determine objective methods of their adjustment. It is also important to visualize applicability of such programs in order to illustrate limits of the applicability of the programs for programmers. In this research, we develop a simulator of state transitions in a task using the pseudo contact point method, which is used for detection of contact states transitions in fine motion, and an example of determining a parameter of a program(primitive) for state transition detection systematically using random search technique.

近年来，机器人学的研究已经应用于各个领域。包括人形机器人在内的各种机器人可以实现各种运动和任务。机器人程序不同于普通程序，因为它们中的一些程序(即任务程序)是为了实现现实世界中任务的目标状态。对于相同的任务执行，这些任务程序会带来不同的“可重用性问题”。这些机器人的程序是由人类程序员开发的，这些程序是利用他们的经验和知识通过反复试验开发出来的。当其他人将这样的程序应用于不同的机器人和不同的环境时，可能会造成困难。由于这样的程序对于程序员以外的其他人来说具有未知的部分，以便对程序进行重用和调整，因此其他人很难修改程序。这个问题不仅涉及对程序进行适当注释的困难，而且涉及使用特定环境中的特定机器人实体的知识将程序移植到其他特定环境中的其他机器人实体的其他程序的根本困难。为了解决这一问题，重要的是将依赖于特定机器人本体和特定环境的部分程序划分出来，提取程序中可以调整的部分作为参数，并确定它们调整的客观方法。将这些程序的适用性可视化也很重要，以便说明程序员对这些程序的适用性的限制。在这项研究中，我们开发了一个使用伪接触点法的任务中状态转移的模拟器，用于检测细微运动中的接触状态转移，并给出了一个使用随机搜索技术系统地确定状态转移检测程序(原语)的参数的例子。

项目成果

Visualization and Analysis for Reorganization of Task-and-Enyironmental Information Structure for Robot

机器人任务环境信息结构重组的可视化与分析

• 发表时间: 2008
• 期刊: Proc.of ISIE 2008(International Symposium on Industhal Electronics)(to appear June 2008.Accepted: March 2008)
• 作者: 渡辺圭吾;ほか;Hiromu Onda and Kousei Kitagaki;Hiromu Onda and Kousei Kitagaki;Hiromu Onda and Kousei Kitagaki
• 通讯作者: Hiromu Onda and Kousei Kitagaki

Visualization and Analysis for Reorganization of Task-and-Environmental Information Structure for Robot

机器人任务与环境信息结构重组的可视化与分析

• 发表时间: 2008
• 期刊: Proc.of ISIE 2008(International Symposium on Industrial Electronics)(to appear June 2008.Accepted:March 2008)
• 作者: 渡辺圭吾;ほか;Hiromu Onda and Kousei Kitagaki
• 通讯作者: Hiromu Onda and Kousei Kitagaki

Visualization and Analysis for Reorganization of Task-and-Environmental Information Structuie for Robot.

机器人任务与环境信息结构重组的可视化与分析。

• 发表时间: 2008
• 期刊: Proc. Of ISIE 2008 (International Symposium on Industrial Electronics) (to appear)Full paper review, (Accepted)
• 作者: 渡辺圭吾;ほか;Hiromu Onda and Kousei Kitagaki;Hiromu Onda and Kousei Kitagaki
• 通讯作者: Hiromu Onda and Kousei Kitagaki