This paper presents nonverbal initiative exchange for robot control through virtual field. The approaches for robot operation can be divided into two main branches; autonomous control and manual control. And initiative exchange between the human and the robot often takes place. For instance, an autonomous robot normally does not require the user intervention, while a user sometimes would like to control the robot manually. Therefore, the mode switches between autonomous control and manual control are desired in many cases. Such a mode switching is usually performed by manual operation, which is not always smooth and is sometimes dangerous. To realize a human-friendly robotic system, the unified methodology for smooth initiative exchange is desired. In this paper, we propose a methodology of initiative exchange by introducing the virtual field around the robot. By employing the virtual field model, multiple users can interact with a mobile robot at the same time. Some concrete examples are also shown to realize the nonverbal initiative exchange by employing an optical beam interface.
|ホスト出版物のタイトル||Proceedings of the IASTED International Conference on Intelligent Systems and Control|
|出版ステータス||Published - 2008|
|イベント||11th IASTED International Conference on Intelligent Systems and Control, ISC 2008 - Orlando, FL|
継続期間: 2008 11 16 → 2008 11 18
|Other||11th IASTED International Conference on Intelligent Systems and Control, ISC 2008|
|Period||08/11/16 → 08/11/18|
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