A Study of Error Recovery System for a Mobile Dual-Arm Robot Working in Daily Environments

日常辅助机器人所需的能力之一是处理日常生活中存在的日常工具。本研究的目的是开发用于错误处理的机器人功能，并通过在真实的环境中的实验来验证这些功能。本研究所针对的错误是指机器人无法确认操作对象的状态与期望状态的情况。这些功能包括（i）错误预防，（ii）错误检测和（iii）错误恢复的能力。我们提出了如何构造这样的功能，并集成到一个真实的机器人具有多自由度（度自由度）像人的方法。

One of the abilities needed for daily assistive robots is to handle daily tools which exist for daily living. The purpose of this study is to develop robotic functions used for error handling and to verify the functions by means of experiments in real environment. Error targeted in this study indicates the condition that the robot cannot confirm the state of manipulated object with desired state.These functions include abilities for (i) error prevention, (ii) error detection and (iii) error recovery. We proposed the methods how to construct such function and integrated the functions into a real robot having many DOFs (degrees of freedoms) like a human.