2012 Fiscal Year Final Research Report
A Wearable Interface for Robot Teaching
| Project/Area Number |
23650096
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Toyohashi University of Technology |
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Principal Investigator |
MIURA Jun 豊橋技術科学大学, 大学院・工学研究科, 教授 (90219585)
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| Co-Investigator(Renkei-kenkyūsha) |
SATAKE Junji 豊橋技術科学大学, 大学院・工学研究科, 助教 (60392726)
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| Project Period (FY) |
2011 – 2012
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| Keywords | ロボット教示 / 動作推定 / 行動認 / ヒューマノイド / 作業モデル |
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| Research Abstract |
This research aims at developing a wearable interface for intuitively teaching everyday tasks to service robots. The interface measures human motions including hand motions and converts them into robot motion commands. We first developed the following two methods: (1) a method of estimating body/hand motions fast and reliably only from a camera and inertial sensors attached to the human body, (2) a method of making the robot perform tasks including manipulation and movement based on an FSM-based state transition model and the measured body/hand motions. These two methods have been tested using an actual humanoid robot. We also have conducted preliminary researches on robot teaching at a remote site and human-robot collaborative tasks.
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