2017 Fiscal Year Annual Research Report
次世代協働ロボット：行動神経学に基づく「安心できる」ロボットの動きの解明
| Project/Area Number |
17H01804
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
山野辺 夏樹 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (90455436)
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| Co-Investigator(Kenkyū-buntansha) |
GOWRISHANK AR.G 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 国際客員研究員 (10570244)
吉田 英一 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 副研究部門長 (30358329)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Keywords | 協働ロボット / 行動神経学 / 動作計画 |
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| Outline of Annual Research Achievements |
This year, object handover experiments, which is one of human-human collaboration tasks, were first conducted. From the experiments, we investigated whether humans have a model of their partner’s handover behavior. Handovers were executed by several subjects in the absence of visual feedback and the results suggested that humans can predict the partner's handover behavior and there are some important variables including physical and social features of the pairs, which effect human motion modification. Namely, the existence of partner has a significant influence on human motion in collaboration tasks as we expected, and the variables will provide crucial guidelines for design of robot behavior.
In addition to the human-human experiments, we developed a robot system to examine the human perception of the robot behavior for the next step.
In parallel we have started to work on understanding human collaboration in co-worker scenarios. For this, with a PhD and Master's student, we have developed the first experimental setup to monitor human arm movements during a co-worker task. We have done the first preliminary experiments with this setup and are now analyzing the first human hand movement data.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The data collection, which was the target for FY2017, is still ongoing, but we were able to finish the first phase of data analysis for handover tasks. Thus, the project seems to be going well.
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| Strategy for Future Research Activity |
As we submitted for FY2018 research plan, we will continue the experiments of human-human collaboration to accumulate a certain amount of data for data analysis and computational model of the peri-limb space. In parallel, experiments with the human-embodied-robot scenario will be started to examine the human perception of the robot behavior. By the end of FY2018, the first rules to define the peri-limb space are expected to be clear. We added a 研究分担者 from FY2018 to accelerate the progress.
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