サービスロボットの動作適応における動作の自己評価法
サービスロボットの動作適応における動作の自己評価法
カテゴリ: 論文誌(論文単位)
グループ名: 【C】電子・情報・システム部門
発行日: 2011/12/01
タイトル(英語): Self-evaluation on Motion Adaptation for Service Robots
著者名: 舟洞 佑記(名古屋大学工学研究科),矢野 良和(愛知工業大学電気学科),道木 慎二(名古屋大学工学研究科),大熊 繁(名古屋大学工学研究科)
著者名(英語): Yuki Funabora (Graduate School of Engineering, Nagoya University), Yoshikazu Yano (Electronics Course, Aichi Institute of Technology), Shinji Doki (Graduate School of Engineering, Nagoya University), Shigeru Okuma (Graduate School of Engineering, Nagoya University)
キーワード: サービスロボット,動作適応,動作環境,自己評価,センサ相関 Service Robots,Motion Adaptation,Operating Environment,Self-evaluation,Sensor Correlation
要約(英語): We suggest self motion evaluation method to adapt to environmental changes for service robots. Several motions such as walking, dancing, demonstration and so on are described with time series patterns. These motions are optimized with the architecture of the robot and under certain surrounding environment. Under unknown operating environment, robots cannot accomplish their tasks. We propose autonomous motion generation techniques based on heuristic search with histories of internal sensor values. New motion patterns are explored under unknown operating environment based on self-evaluation. Robot has some prepared motions which realize the tasks under the designed environment. Internal sensor values observed under the designed environment with prepared motions show the interaction results with the environment. Self-evaluation is composed of difference of internal sensor values between designed environment and unknown operating environment. Proposed method modifies the motions to synchronize the interaction results on both environment. New motion patterns are generated to maximize self-evaluation function without external information, such as run length, global position of robot, human observation and so on. Experimental results show that the possibility to adapt autonomously patterned motions to environmental changes.
本誌: 電気学会論文誌C(電子・情報・システム部門誌) Vol.131 No.12 (2011) 特集:電気関係学会東海支部連合大会
本誌掲載ページ: 2072-2081 p
原稿種別: 論文/日本語
電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/12/131_12_2072/_article/-char/ja/
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