共通動作軌跡モデルと道具の機能情報を用いたロボット動作生成

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: 2023/09/01

タイトル(英語): A Method of Generating Robot Motion using Common Motion Trajectory Model and Function Information of Tools

著者名: 安藤　優汰（中京大学大学院），鈴木　貴大（中京大学大学院），秋月　秀一（中京大学大学院），橋本　学（中京大学大学院）

著者名(英語): Yuta Ando (Chukyo University), Takahiro Suzuki (Chukyo University), Shuichi Akizuki (Chukyo University), Manabu Hashimoto (Chukyo University)

キーワード: ロボット動作生成，共通動作軌跡モデル，機能認識，生活支援ロボット　　robot motion generation，common motion trajectory model，function recognition，life support robot

要約(英語): In order to realize a life support robot that can be handled universally, it is necessary to generate robot behaviors that flexibly handle various tools according to diverse tasks. However, there are countless tools in our living environment, and it is difficult to teach each tool its own motion. We propose method to automatically generate robot motions for tools of unknown size and shape to achieve their intended use. I propose the available Common Motion Trajectory Model for the several kinds of tools which a purpose of use was common to commonly. Furthermore, I propose method to generate the robot motion that can execute a purpose task appropriately by reflecting the function information of the tool which sensing in Common Motion Trajectory Model. In the experiment, we performed the task of “scooping and pouring matcha” for a total of 15 different utensils in three categories (Spoon, Ladle, and Spatula), and confirmed that the average success rate was 71.0%.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.143 No.9 （2023） 特集：知能メカトロニクス分野と連携する知覚情報技術

本誌掲載ページ: 877-884 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/143/9/143_877/_article/-char/ja/