| Research Abstract |
Simulations have been conducted to show the possibility of mechanical products to be disassembled by a robot that finds parts in the product and provokes behaviors proper to the parts. A behavior of turning over the product is added to the conventional behaviors of turning screws and taking parts apart to enables the robot to attack multiple sides of the product. The robot's provocation of the behaviors can be regarded as the robot's acceptance of the affordances presented by the product or parts. We have shown by simulation that imposing certain rules to the acceptance of affordances, i.e. provocation of behaviors, makes the disassembly proceed effectively. For example, the robot should try another object if it fails in taking one apart, and it should try on another face of the product if it fails on one.
To demonstrate this concept, we have tried disassembly of real but simple mechanical products and built a network robotics system consisting of several subsystems, each taking care of
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its own device such as a robot, a vision sensor, a force sensor, etc., to carry out disassembly experiments. The vision subsystem detects hexagonal and rectangular shapes, corresponding to bolts and blocks, and sends their positions to the robot subsystem. The robot subsystem, for example, provokes the behavior of turning counterclockwise in case of a hexagon, and the behavior of pulling upwards in case of a rectangle. We use such methods as template matching, autocorrelation, and Hough transformation.
To investigate the behavior to remove a part using force sensor information, a structure of behaviors for escaping a maze using force sensor information is built referencing to a human behavior.
For the cooperation between robots, an experiment is conducted on the network robotics system, where the motion of a robot is measured by a position sensor subsystem for another robot of another subsystem to follow.
Thus the fundamentals for the experiment of the provocation of robot behaviors based on the affordances are established. Less
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