Integration of Work Operation and Embodied Multimodal Interaction in Task Modeling for Collaborative Robot Development

被引：0

作者：

Tan, Jeffrey Too Chuan ^{[1
]}

Okuno, Keisuke ^{[2
]}

Inamura, Tetsunari ^{[3
]}

机构：

[1] Univ Tokyo, Inst Ind Sci, Tokyo, Japan

[2] Inst Syst Informat Technol & Nanotechnol, Fukuoka, Japan

[3] Grad Univ Adv Studies, Natl Inst Informat, Tokyo, Japan

来源：

2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2014年

关键词：

collaborative robot; work operation; embodied multimodal interaction; task modeling; human-robot interaction;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In a collaborative robot development, the robot is required to understand both the content of the work operation, and the current condition of the working environment and the progress of the human, in order to provide exact assistance in the correct timing. This work aims to integrate together both robot knowledge in work operation and embodied multimodal interaction for collaborative robot development. A task modeling approach is proposed to build a hierarchical task model of the entire work operation and grounding with the actual condition ("state") of the objects and environment, and the action ("transition") of work in the embodied dimension. The system is implemented in a simulation environment with human interaction in both structured (collaborative cooking task) and unstructured (clean up task) operations.

引用

页码：615 / 618

页数：4

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