Research on the probabilistic cooperation mechanism for working support partner robot

工业机器人在制造业中实现稳定的质量方面发挥着关键作用。然而，工业机器人在完成需要有经验的功率调节的工作、需要技能的工作以及以较难预测的方式变化的工作方面很差。为了改善这种状况，我们将期望发送给合作机器人，让合作机器人完成对工作者来说困难的工作，并支持成为工作者负担的工作。我们构建了一个概率协调机制来观察工作者的行为，以估计和预测工作者的状态，意图和行为。此外，我们还开发了工作支持伙伴机器人，它可以将所需的零件/工具按时交付给工人，并建立了人类机器人合作工作的基础技术。

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.