Robotic co-operation system based on a self-organization approached human work model

Yasuhisa Hayakawa, Tetsuya Ogata, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    This study presents a method of human co-operating systems, which can determine when support behavior is necessary by a human work model. We focus on assembly work as the target and propose a self-organizing approach of human work models by sampled human information by vision sensors. The support is determined according to the work model. Such a system would realize provision of support without a strict model of the assembly target and enable support in cases where neither the assembly process, nor the final form of the completed task, is known to the system in advance. First, a method of measuring human information and extracting states where support is necessary, from the human work model is presented. Next, a support system for assembly work co-operation according to the work model, with physical interaction capabilities is described. Experiments were carried out to evaluate and verify the effectiveness of the system. The results show that the constructed assembly support system is effective in both improving performance and increasing friendliness.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages4057-4062
    Number of pages6
    Volume4
    Publication statusPublished - 2000
    EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
    Duration: 2000 Apr 242000 Apr 28

    Other

    OtherICRA 2000: IEEE International Conference on Robotics and Automation
    CitySan Francisco, CA, USA
    Period00/4/2400/4/28

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    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Hayakawa, Y., Ogata, T., & Sugano, S. (2000). Robotic co-operation system based on a self-organization approached human work model. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 4057-4062)