Research on the probabilistic cooperation mechanism for working support partner robot

在制造业中，工业机器人在实现稳定的质量方面起着关键作用。然而，工业机器人在完成需要经验调节功率的工作、需要技能的工作以及变化难以预测的工作方面表现不佳。为了改善现状，将期望发送给搭档机器人，搭档机器人通过完成工人难以完成的工作，并支持成为工人负担的工作来完成目标工作。我们构建了一个概率协调机制来观察工人的行为，以估计和预测工人的状态、意图和行为。此外，我们还开发了能够将所需零件/工具按时交付给工人的工作支持伙伴机器人，构建了人机协作工作的基础技术。

The industrial robot plays a key role in achieving steady quality in a manufacturing industry. However, the industrial robot is poor at completing work for which the experienced adjustment of power is necessary, work for which skill is necessary, and work that varies in a less predictable manner. To improve the present situation, the expectation is sent to the partner robot which achieves the aimed work by doing the work that is difficult for the worker, and supporting the work which becomes a load of the worker.We have constructed a probabilistic coordination mechanism to observe the behavior of the worker, for estimating and predicting the state, intent and behavior of the worker. Moreover, we developed the working support partner robot which can deliver required parts/tools to a worker on time, and built a human robot cooperation working fundamental technology.