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Study on an autonomously behaving robot with recognizing implicitly inhibited spaces formed by multiple people and objects

Research Project

Project/Area Number 16K00351
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent robotics
Research InstitutionThe University of Electro-Communications

Principal Investigator

Kaneko Masahide  電気通信大学, 大学院情報理工学研究科, 教授 (90262039)

Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2018: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2017: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2016: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywords知能ロボティクス / 自律移動 / ユーザインタフェース / 人工知能 / 画像認識 / 空間的な間(ま) / 知能ロボティックス / 画像・文章・音声等認識 / ユーザインターフェース / 空間的な間 / 画像、文章、音声等認識
Outline of Final Research Achievements

An autonomously behaving robot with recognizing implicitly inhibited spaces formed by group of people and objects has been studied from the viewpoint of practical applications to real daily lives. Firstly, the method to generate an environment map without being affected by the pedestrians for the safe and natural movement of robot. Next, the autonomous path planning method that considers the potentially occupied spaces by objects and the degree of crowdedness. The robust behavior detection and tracking of multiple users, and the flexible guiding behavior adapted to the movement of user group have been realized. Furthermore the method to dynamically recognize implicitly inhibited spaces formed by the multiple people and objects and to generate safe paths flexibly has been developed. Simulation experiments have verified the effectiveness of the proposed methods.

Academic Significance and Societal Importance of the Research Achievements

社会構造の変化やAI技術の進展に伴い、今後、日常生活空間において人間と共存し、人間と様々に係わり合いながら自律的に行動するロボットに対する需要の高まりが予想される。この様なロボットにおいては、単に部屋や廊下の形状や障害物を認識するだけでなく、周囲の人物との係わり合いや物によって形成される潜在的に立ち入りを控えるべき空間(すなわち、空間的な間(ま))を考慮し、周囲の人物に衝突したり不快感を与えることがないように移動経路の生成や行動形態の選択を行うことが不可欠である。本研究はこのために必要な手法を提供するものであり、今後の人間共存型ロボットの発展にとって学術的にも、社会的にも重要なキーとなる。

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Research-status Report
  • 2016 Research-status Report
  • Research Products

    (17 results)

All 2019 2018 2017 2016 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results,  Acknowledgement Compliant: 1 results,  Open Access: 1 results) Presentation (14 results) (of which Int'l Joint Research: 3 results) Remarks (1 results)

  • [Journal Article] A framework for adaptive motion control of autonomous sociable guide robot2016

    • Author(s)
      Bin Zhang, Tomoaki Nakamura, and Masahide Kaneko
    • Journal Title

      IEEJ Transactions on Electrical and Electronic Engineering

      Volume: 11 Issue: 6 Pages: 786-795

    • DOI

      10.1002/tee.22304

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Simultaneous children recognition and tracking for childcare assisting system2016

    • Author(s)
      Bin Zhang, Tomoaki Nakamura, Rena Ushiogi, Takayuki Nagai, Kasumi Abe, Takashi Omori, Natsuki Oka and Masahide Kaneko
    • Journal Title

      Journal of Signal and Information Processing

      Volume: 7 Pages: 160-174

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] 複数人や物によって形成される空間的な間の意味を解釈しながら経路生成を行う自律移動ロボット2019

    • Author(s)
      卜憲輝、中村友昭、金子正秀
    • Organizer
      映像情報メディア学会技術報告, メディア工学研究会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 個人空間を考慮した時空間RRTによる自律移動ロボットの動的経路生成2019

    • Author(s)
      卜憲輝、中村友昭、金子正秀
    • Organizer
      情報処理学会第81回全国大会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 自律移動ロボットのための物体の潜在的な占有空間の解析2019

    • Author(s)
      張斌、金子正秀、林憲玉
    • Organizer
      情報処理学会第81回全国大会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Robust mapping for the autonomous mobile robot considering potential occupied spaces of objects2018

    • Author(s)
      Bin Zhang, Masahide Kaneko, and Hunok Lim
    • Organizer
      9th International Workshop on Advances in Networking and Computing (WANC’18) in conjunction with CANDAR’18 (6th International Symposium on Computing and Networking)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Object recognition based robust mapping for the autonomous mobile robot under dynamic environment2018

    • Author(s)
      Bin Zhang, Masahide Kaneko and Hunok Lim
    • Organizer
      10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems (SCIS&ISIS2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 混雑状況におけるローカル情報を用いた時空間RRTによる自律移動ロボットの動的経路生成2018

    • Author(s)
      中村和樹、中村友昭、金子正秀
    • Organizer
      映像情報メディア学会, メディア工学研究会
    • Related Report
      2017 Research-status Report
  • [Presentation] 自律案内ロボットにおけるユーザグループの認識と追跡を同時に行うシステム2017

    • Author(s)
      張斌、中村友昭、金子正秀
    • Organizer
      情報処理学会第79回全国大会
    • Place of Presentation
      名古屋大学東山キャンパス(名古屋市千種区)
    • Year and Date
      2017-03-16
    • Related Report
      2016 Research-status Report
  • [Presentation] 小型ドローンに対する3次元パーソナルスペース2017

    • Author(s)
      芝田伊吹、中村友昭、金子正秀
    • Organizer
      映像情報メディア学会メディア工学研究会
    • Place of Presentation
      関東学院大学関内メディアセンター(神奈川県横浜市)
    • Year and Date
      2017-02-18
    • Related Report
      2016 Research-status Report
  • [Presentation] ローカル情報を用いた時空間RRTによる自律移動ロボットの動的経路生成2017

    • Author(s)
      中村和樹、中村友昭、金子正秀
    • Organizer
      第60回自動制御連合講演会(計測自動制御学会他主催)
    • Related Report
      2017 Research-status Report
  • [Presentation] 保育支援のための子ども行動追跡システムへの評価2016

    • Author(s)
      張斌、中村友昭、潮木玲奈、長井隆行、阿部香澄、大森隆司、岡夏樹、金子正秀
    • Organizer
      SSI2016(計測自動制御学会 システム・情報部門 学術講演会2016)
    • Place of Presentation
      滋賀県立体育館(滋賀県大津市)
    • Year and Date
      2016-12-16
    • Related Report
      2016 Research-status Report
  • [Presentation] Robust children behavior tracking for childcare assisting robot by using multiple Kinect sensors2016

    • Author(s)
      Bin Zhang, Tomoaki Nakamura, Rena Ushiogi, Takayuki Nagai, Kasumi Abe, Takashi Omori, Natsuki Oka, Masahide Kaneko
    • Organizer
      8th International Conference on Social Robotics (ICSR 2016)
    • Place of Presentation
      Kansas City Marriott Country Club Plaza, Kansas City (USA)
    • Year and Date
      2016-11-03
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Robust human identification under arbitrary postures2016

    • Author(s)
      Mariana Rodrigues Makiuchi and Masahide Kaneko
    • Organizer
      Proceedings of the UEC International Mini-Conference for Exchange Students on Informatics & Engineering and Information Systems - No.36 -
    • Place of Presentation
      電気通信大学(東京都調布市)
    • Year and Date
      2016-08-08
    • Related Report
      2016 Research-status Report
  • [Presentation] Robust 2D mapping for mobile robot containing 3D information2016

    • Author(s)
      Adisorn Yimsuk and Masahide Kaneko
    • Organizer
      Proceedings of the UEC International Mini-Conference for Exchange Students on Informatics & Engineering and Information Systems - No.36 -
    • Place of Presentation
      電気通信大学(東京都調布市)
    • Year and Date
      2016-08-08
    • Related Report
      2016 Research-status Report
  • [Presentation] 複数のKinectを用いた子どもの行動追跡及び個人認証2016

    • Author(s)
      張斌,中村友昭,阿部香澄,アッタミミムハンマド,長井隆行,大森隆司,岡夏樹,金子正秀
    • Organizer
      2016年度人工知能学会全国大会
    • Place of Presentation
      西日本総合展示場AIM(福岡県北九州市)
    • Year and Date
      2016-06-09
    • Related Report
      2016 Research-status Report
  • [Remarks] 電気通信大学大学院情報理工学研究科 金子・中村研究室ホームページ

    • URL

      http://www.kaneko.lab.uec.ac.jp/index.html

    • Related Report
      2017 Research-status Report 2016 Research-status Report

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Published: 2016-04-21   Modified: 2020-03-30  

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