| Budget Amount *help |
¥44,070,000 (Direct Cost: ¥33,900,000、Indirect Cost: ¥10,170,000)
Fiscal Year 2023: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2022: ¥7,020,000 (Direct Cost: ¥5,400,000、Indirect Cost: ¥1,620,000)
Fiscal Year 2021: ¥8,060,000 (Direct Cost: ¥6,200,000、Indirect Cost: ¥1,860,000)
Fiscal Year 2020: ¥11,570,000 (Direct Cost: ¥8,900,000、Indirect Cost: ¥2,670,000)
Fiscal Year 2019: ¥11,700,000 (Direct Cost: ¥9,000,000、Indirect Cost: ¥2,700,000)
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| Outline of Final Research Achievements |
Considering that observations based on body sensing and insights based on psychological sensing are essential for mutual guidance between humans and robots, we proposed predictive control based on human motion and psychological dynamics, and proposed a method for generating behavioral context through learning and human-adaptive control of robots based on it. Specifically, we proposed a basic framework for (I) understanding human behavior to estimate the intrinsic intention toward the robot, (II) determining the robot's behavior considering the inducement effect (cognitive, psychological, and physical) toward the human, and (III) iteratively evaluating and adapting the human (robot) reactive behavior to the robot (human) behavior in an appropriate manner. The usefulness of these techniques was confirmed by several experiments using a real robot in human coexistence environments, e.g., in the office and at home.
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