On Generation Method of Command for Mobile Robot Based on Merging Informations of Human Behavior

本研究将具有亲和力的人类行为信息合并为支持信息，将人类想要获得的支持内容传递给机器人，旨在研究和开发将这些信息关联为机器人支持指令的一系列指令组的技术。研究发现，对于利用人类行为的扫视信息使机器人猜测人类意图的研究，得到了人脸方向和扫视角度与凝视的视点、范围和凝视时间复合的相对角度问题。此外，还提出了一种基于视线信息的机器人视线识别方法提出了在使用手势的机器人指令指令组中减少手的大量自由度的指令，并对使用该指令的移动机器人的运动控制进行了实验评估。

This study concerned with human behavior information which had amibiguity is made to unite to be support information to transmit the content of support that human wants to obtain to the robot, and has aimed at the research and development of the technique for associating this information as a series of command group of the robot support instruction.It is found that the relative angle problem to the compound of the direction of the face and the glance angle and the fixation points, ranges of the gaze, and the gaze time was obtained for the research to make the robot guess man's intention by using glance information on human behavior.Moreover, it proposed the command that huge number of degrees of freedom of the hand is reduced in the robot instruction command group which used the gesture of the hand, and the movement control of the mobile robot which used the command was evaluated experimentally.