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Visual support system for remote operation based on the perception of potential interactions

Research Project

Project/Area Number 16H02880
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent robotics
Research InstitutionMeijo University (2019-2020)
Nagoya University (2016-2018)

Principal Investigator

SEKIYAMA Kosuke  名城大学, 理工学部, 教授 (40293675)

Project Period (FY) 2016-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥12,610,000 (Direct Cost: ¥9,700,000、Indirect Cost: ¥2,910,000)
Fiscal Year 2020: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2018: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2016: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
Keywords知能ロボット / 行動計画 / インターフェース / 複数ロボット協調 / シンボリックプランニング / スマートグラス / 遠隔操作 / 視覚支援 / 遠隔操作支援 / 認知共有 / マルチロボット / モバイルマニピュレータ / 双腕協調制御 / 知能ロボティックス / マルチロボットシステム / テレオペレーション / 知能機械 / 人工知能 / 行動環境認識
Outline of Final Research Achievements

We have developed an integrated system of cognition, control, and interface for intuitive operation to the robot with a more intuitive operation feeling. The operator is equipped with smart glasses and can perform Fetch tasks with a dual-arm mobile manipulator with simple instructions such as pointing. The robot has a camera mounted on one arm and implements dual-arm cooperative control in which grip control is performed by one gripper. We built an architecture that executes reactive motion planning using Fast Downward and Behavior Tree, which are one of the Symbolic Task Planning, and built an on-demand cooperative system of multiple robots.

Academic Significance and Societal Importance of the Research Achievements

日常生活にロボットが浸透する際,人とロボットがより親和的に相互作用する認知システム,制御システム,インターフェースの統合実装は今後重要なテーマとなると考えられる.人とロボットがサイバーフィジカル領域で拡張された身体性を実現するための基礎技術を構築した.

Report

(6 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (20 results)

All 2021 2020 2019 2018 2017 2016

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results) Presentation (19 results) (of which Int'l Joint Research: 6 results,  Invited: 3 results)

  • [Journal Article] Visual Support System for Remote Control by Adaptive ROI Selection of Monitoring Robot2018

    • Author(s)
      Shota Samejima; Khusniddin Fozilov; Kosuke Sekiyama
    • Journal Title

      ROBOMECH Journal

      Volume: Vol.5, No.6 Issue: 1 Pages: 1-21

    • DOI

      10.1186/s40648-018-0103-0

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access
  • [Presentation] PSOとガウス過程を用いた屋内ドローンの最適視点選択2021

    • Author(s)
      横松大政,関山浩介
    • Organizer
      HAIシンポジウム2021
    • Related Report
      2020 Annual Research Report
  • [Presentation] BehaviroTree を用いたリアルタイム行動計画-計画遂行における失敗の自己認識-2021

    • Author(s)
      川瀬晴義,関山浩介
    • Organizer
      ロボティクス・メカトロニクス講演会2021
    • Related Report
      2020 Annual Research Report
  • [Presentation] A coordinated control system for dual-arm mobile manipulator balancing grasping and viewpoint selection2020

    • Author(s)
      Taishi Suzuki;Kosuke Sekiyama,
    • Organizer
      2020 IEEE/SICE International Symposium on System Integration (SII)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Behavior Treeに基づいた自律性評価2020

    • Author(s)
      Fozilov TreesKhusniddin, 関山浩介
    • Organizer
      第32回自律分散システム・シンポジウム
    • Related Report
      2020 Annual Research Report
  • [Presentation] ユーザとロボットをシームレスにつなぐスマートグラスインタフェース2020

    • Author(s)
      井上遼,関山浩介
    • Organizer
      第25回ロボティクスシンポジア
    • Related Report
      2020 Annual Research Report
  • [Presentation] ユーザの身体性を拡張する認知共有システムを用いたロボットナビゲーション2020

    • Author(s)
      井上遼,関山浩介
    • Organizer
      ロボティクス・メカトロニクス講演会2020
    • Related Report
      2020 Annual Research Report
  • [Presentation] A Coordinated Control System for Dual-Arm Mobile Manipulator Balancing Grasping and Viewpoint Selection2020

    • Author(s)
      Taishi Suzuki, Kosuke Sekiyama
    • Organizer
      2020 IEEE/SICE International Symposium on System Integration (SII)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Behavior Treeに基づいた自律性評価2020

    • Author(s)
      フォジロウ フスニッデン, 関山浩介
    • Organizer
      第32回自律分散シンポジウム
    • Related Report
      2019 Annual Research Report
  • [Presentation] ユーザとロボットをシームレスにつなぐスマートグラスインタフェース2020

    • Author(s)
      井上遼,鈴木幹也, 関山浩介
    • Organizer
      第25回ロボティクスシンポジア
    • Related Report
      2019 Annual Research Report
  • [Presentation] 東洋的AIとしての創発システム論2019

    • Author(s)
      関山浩介
    • Organizer
      第25回創発システムシンポジウム(基調講演)
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] 写真の余白を考慮した構図評価を用いた自律 撮影ロボット2019

    • Author(s)
      蘭凱,関山浩介
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] オクルージョンとフレームアウトを回避する移 動台車ロボットの双腕制御2019

    • Author(s)
      鈴木太志,関山浩介
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] Autonomous Robot Photographer System Based on Aesthetic Composition Evaluation Using Yohaku2019

    • Author(s)
      Lan Kai, Kosuke Sekiyama
    • Organizer
      IEEE International Conference on Systems, Man, and Cybernetics (SMC2019)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] UAVによる地上ロボットの周辺環境認識に基づくローカライゼーション2019

    • Author(s)
      関山浩介,井上 遼
    • Organizer
      第24回ロボティクスシンポジア
    • Related Report
      2018 Annual Research Report
  • [Presentation] 関係性認識による適応的 ROI 選択に基づくマルチロボット遠隔操作視覚支援システム2017

    • Author(s)
      鮫島正太,関山浩介
    • Organizer
      第29回自律分散システム・シンポジウム
    • Place of Presentation
      調布クレストンホテル(東京)
    • Year and Date
      2017-01-30
    • Related Report
      2016 Annual Research Report
  • [Presentation] Visual Cognitive Sharing and Cognitive Support for Human-Robot Cooperation2017

    • Author(s)
      Kosuke Sekiyama
    • Organizer
      The 1st International Conference on Informatics and Computational Science
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] モニタリングロボットの適応的ROI選択による遠隔操作の視覚支援システム2016

    • Author(s)
      鮫島正太,関山浩介
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形大学
    • Year and Date
      2016-09-07
    • Related Report
      2016 Annual Research Report
  • [Presentation] Cognitive Sharing and Viewpoint Selection in Cooperative Monitoring Robots2016

    • Author(s)
      Kosuke Sekiyama
    • Organizer
      The 9th International Conference on Intelligent Robotics and Applications
    • Place of Presentation
      首都大学東京
    • Year and Date
      2016-08-22
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Multi-robot visual support system by adaptive ROI selection based on gestalt perception2016

    • Author(s)
      Shouta Samejima, Kosuke Sekiyama
    • Organizer
      IEEE International Conference on Robotics and Automation (ICRA2016)
    • Place of Presentation
      Stockholm Waterfront Congress Center(Sweden)
    • Year and Date
      2016-05-16
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research

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Published: 2016-04-21   Modified: 2022-01-27  

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