Human-Robot Coordination in Ballroom Dance and Its Generalization

随着老龄化社会的到来，一些严重的问题被认为是在我们的社会。机器人有望成为解决医疗、福利、家庭、办公、建筑工地等日常生活问题的解决方案之一。但是，目前，机器人很难在没有人类帮助的情况下在这些环境中执行任务，因为对机器人来说，完全识别当前的情况并决定适当的行为是不容易的。在此背景下，一些研究人员已经开发了人-机器人协作系统，例如人力辅助系统，其中机器人与人类协调执行任务。在大多数人-机器人协作系统中，机器人被动地对抗人类施加的有意力。如果机器人不仅可以被动地操作，而且可以根据人类的意图、环境信息、任务知识等主动地操作，可以实现有效的人机协调。 ...更多信息 本研究以交谊舞为例，探讨了人机协调与物理交互的有效性。在交际舞中，舞者需要与舞伴进行身体上的互动。此外，每个舞者都必须估计合作伙伴的意图，并根据其意图，环境信息，舞蹈知识等移动，以便优雅地跳舞。因此，交际舞是一个很好的例子，人与机器人协调，包括人与机器人之间的物理交互。在这个项目中，我们开发了一个舞伴机器人系统作为一个平台，有效的人机协调的调查。我们还提出了基于人类意图，环境信息和舞蹈知识的机器人移动的控制体系结构。开发的舞蹈伙伴机器人系统的产品可能是有用的其他人类辅助系统的发展，其中的机器人预计将表现得适当的基础上人类的意图，信息的环境，知识的任务等作为人类辅助系统的例子，我们已经将研究产品应用到另一个人-机器人合作系统和步行支持系统。最后，我们讨论了有效的人机协作系统，并对该项目进行了汇报。少

With the coming of aging societies, several serious problems are considered in our society. Robots are expected to be one of solutions for the problems relating to our daily activities, such as in medical and welfare fields, at home and office, in construction sites, and so on. However, it is currently difficult for the robots to execute tasks without help from human in such environments because recognizing the current situation and deciding appropriate behavior completely are not easy for the robots. Against the background, several researchers have developed human-robot collaboration system, e.g. human power assist system, in which robots execute tasks in coordination with human. In most human-robot collaboration system, robots behave passively against intentional forces applied by human. If robots could operate not only passively but also actively based on human intentions, information on the environments, knowledge of tasks etc., effective human-robot coordination could be realized. … More This research focused on ballroom dancing as an example of the effective human-robot coordination with the physical interaction. In the ballroom dance, a dancer needs to have a physical interaction with a partner. In addition, each dancer has to estimate the intention of the partner, and move based on its intention, information on environments, knowledge of dances, etc. in order to dance gracefully. Therefore the ballroom dance is a good example for human-robot coordination including the physical interaction between the human and the robot. In this project, we have developed a dance partner robot system as a platform for investigation of the effective human-robot coordination. We have also proposed control architecture for moving the robot based on the human intention, information on the environments, and knowledge of dances. The product of developing the dance partner robot system could be useful for developments of other human-assist systems, in which the robots are expected to behave appropriately based on human intention, information on the environments, knowledge of tasks etc. As examples of the human-assist systems, we have applied the research product to another human-robot cooperation system and a walking support system. Finally, we have discussed effective human-robot cooperation system, and have made a report on this project. Less