Human -robot interface based on instructions by neck movement

考虑一个人-机器人系统，其中移动的机器人根据附着在人头部的激光指示器投射的激光光斑的指令移动。人类通过转动头部来向机器人发出所需运动的指令。介绍了机器人的三种工作模式：停止模式、跟随模式和自主运动到期望位置的模式。在跟随模式下，机器人可以通过跟随激光光斑在地板上的运动来实现预定的运动。在激光光斑的指令运动和机器人的跟随运动之间引入感性控制器，实现机器人心理上可接受的运动。使用全方位机器人的实验所提出的系统的有效性进行了讨论。

A human-robot system in which a mobile robot moves according to the instruction of the laser spot projected by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Three modes, stopping mode, following mode, and a mode to move to the desired position autonomously, are introduced. In the following mode, robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. The effectiveness of the proposed system is discussed experimentally using an omni-directional robot.