2020 Fiscal Year Final Research Report
Visual support system for remote operation based on the perception of potential interactions
| Project/Area Number |
16H02880
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent robotics
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| Research Institution | Meijo University (2019-2020)
Nagoya University (2016-2018) |
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Principal Investigator |
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| Project Period (FY) |
2016-04-01 – 2021-03-31
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| Keywords | 知能ロボット / 行動計画 / インターフェース |
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| 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.
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| Free Research Field |
自律分散システム，知能ロボット
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| 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．
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