A framework of state identification for operational support based on task-phase and attentional-condition identification

Mitsuhiro Kamezaki*, Hiroyasu Iwata, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

This paper proposes a state identification framework to support the complicated dual-arm operations in construction work. The operational support in construction machinery filed requires the compatibility with different types of support and the commonality among various operator skill levels. The proposed framework is therefore organized into two functions: real-time task phase identification and time-series attentional condition identification. The task phase is defined by utilizing the joint load applied according to the environment constraint condition. The attentional condition is defined as one of the internal work-state condition classified by the necessity level of operational support, and is dependent on the vectorial or time-series date selected by the identified task phase. Experiments are conducted using the hydraulic dual arm system to perform transporting and removing tasks. Results show that the number of error contacts, internal force applied, and mental workload is decreased without time-consumption increase. The result confirmed that the proposed framework greatly contribute to improving each operator's work performance.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ1267-1272
ページ数6
DOI
出版ステータスPublished - 2010 8月 26
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
継続期間: 2010 5月 32010 5月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
国/地域United States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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