Human-robot cooperation in arrangement of objects using confidence measure of neuro-dynamical system

Hiromitsu Awano*, Tetsuya Ogata, Shun Nishide, Toru Takahashi, Kazunori Komatani, Hiroshi G. Okuno

*この研究の対応する著者

研究成果

5 被引用数 (Scopus)

抄録

The objective of our study was to develop dynamic collaboration between a human and a robot. Most conventional studies have created pre-designed rule-based collaboration systems to determine the timing and behavior of robots to participate in tasks. Our aim is to introduce the confidence of the task as a criterion for robots to determine their timing and behavior. In this paper, we report the effectiveness of applying reproduction accuracy as a measure for quantitatively evaluating confidence in an object arrangement task. Our method is comprised of three phases. First, we obtain human-robot interaction data through the Wizard of OZ method. Second, the obtained data are trained using a neuro-dynamical system, namely, the Multiple Time-scales Recurrent Neural Network (MTRNN). Finally, the prediction error in MTRNN is applied as a confidence measure to determine the robot's behavior. The robot participated in the task when its confidence was high, while it just observed when its confidence was low. Training data were acquired using an actual robot platform, Hiro. The method was evaluated using a robot simulator. The results revealed that motion trajectories could be precisely reproduced with a high degree of confidence, demonstrating the effectiveness of the method.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
ページ2533-2538
ページ数6
DOI
出版ステータスPublished - 2010 12 1
外部発表はい
イベント2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010 - Istanbul, Turkey
継続期間: 2010 10 102010 10 13

出版物シリーズ

名前Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN(印刷版)1062-922X

Other

Other2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
国/地域Turkey
CityIstanbul
Period10/10/1010/10/13

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用

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