| Budget Amount *help |
¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 2006: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 2005: ¥1,700,000 (Direct Cost: ¥1,700,000)
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| Research Abstract |
In order to build programs of behavioral decision for autonomous mobile robots, various type of algorithms based on dynamics, geometry, statistics and so on have been adopted. However, there are several difficulties to develop such algorithms. In this project, as another approach to building programs for autonomous robots, the extraction of cooperative human decision rules and the implementation of them into a robot are studied.
As preparation for that, the immersive remote control system has developed. This system can give an operator the physical feature of the robot virtually. Image taken with omni-directional camera on the robot is transformed into perspective image and is projected onto the three screens around the operator. This enables the operator to get visual information around the robot as if he/she rides on the robot. The operator can send commands to the robot by using a joystick.
By using this system, several experiments are carried out to extract human decision rules moving action. From the analysis of human operation, we focus on the floor area projected onto the each screens as environmental information. The corresponding relation between these external information and human behaviors (input for the joystick) is defined as "human decision rules". Because of discontinuity and nonlinearity of human operation, it is so difficult to represent human operation by a single function. Therefore, human behavior is divided into some operation patterns and the corresponding relations are stored as database. After the implementing of this database of corresponding relations, the motions of the robot show some patterns which are similar to those of the robot operated by human.
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