Provocation of robot behaviors based on the affordances of mechanical objects

已经进行了模拟，以显示机械产品被机器人拆卸的可能性，机器人找到产品中的部件并激发适合这些部件的行为。在传统的旋转螺丝和拆卸部件的行为中增加了翻转产品的行为，以使机器人能够攻击产品的多个侧面。机器人对行为的挑衅可以被视为机器人对产品或部件所提供的负担的接受。我们通过仿真表明，对接受赠与行为施加一定的规则，即行为的挑衅，可以使拆卸有效地进行。例如，如果机器人拆卸一个物体失败，它应该尝试另一个物体，如果一个物体拆卸失败，它应该尝试产品的另一个表面。为了演示这个概念，我们尝试了对真实但简单的机械产品的拆卸，并建立了一个由几个子系统组成的网络机器人系统，每个子系统负责…更多的是自己的设备，如机器人、视觉传感器、力传感器等，来进行拆卸实验。视觉子系统检测对应于螺栓和块的六边形和矩形形状，并将它们的位置发送给机器人子系统。例如，机器人子系统在六边形的情况下会激发逆时针旋转的行为，在矩形的情况下会激发向上拉的行为。采用模板匹配、自相关和Hough变换等方法，研究了利用力传感器信息提取零件的行为，参照人类行为建立了利用力传感器信息逃离迷宫的行为结构；为了机器人之间的协作，在网络机器人系统上进行了实验，其中一个机器人通过位置传感器子系统测量机器人的运动，供另一个子系统的另一个机器人跟随，从而为基于提供度的机器人行为激发实验奠定了基础。较少

Simulations have been conducted to show the possibility of mechanical products to be disassembled by a robot that finds parts in the product and provokes behaviors proper to the parts. A behavior of turning over the product is added to the conventional behaviors of turning screws and taking parts apart to enables the robot to attack multiple sides of the product. The robot's provocation of the behaviors can be regarded as the robot's acceptance of the affordances presented by the product or parts. We have shown by simulation that imposing certain rules to the acceptance of affordances, i.e. provocation of behaviors, makes the disassembly proceed effectively. For example, the robot should try another object if it fails in taking one apart, and it should try on another face of the product if it fails on one.To demonstrate this concept, we have tried disassembly of real but simple mechanical products and built a network robotics system consisting of several subsystems, each taking care of … More its own device such as a robot, a vision sensor, a force sensor, etc., to carry out disassembly experiments. The vision subsystem detects hexagonal and rectangular shapes, corresponding to bolts and blocks, and sends their positions to the robot subsystem. The robot subsystem, for example, provokes the behavior of turning counterclockwise in case of a hexagon, and the behavior of pulling upwards in case of a rectangle. We use such methods as template matching, autocorrelation, and Hough transformation.To investigate the behavior to remove a part using force sensor information, a structure of behaviors for escaping a maze using force sensor information is built referencing to a human behavior.For the cooperation between robots, an experiment is conducted on the network robotics system, where the motion of a robot is measured by a position sensor subsystem for another robot of another subsystem to follow.Thus the fundamentals for the experiment of the provocation of robot behaviors based on the affordances are established. Less