1998
[Abstract] In this study, we constructed the framework for the
vision-based cooperation of the human and a robot hand taking toy
parts assembly as an example. The task models for cooperation were
generated by observation of the human demonstration. The operations
of the robot assistance were generated based on the task models. We
proposed the mechanism by which the robot was able to select the
appropriate assistance motion according to the human motion at each
stage. It must be noticed that several patterns of cooperation appear
even for only one series of two task models when we consider passing
an object from the robot to the human.
As the future works, when several series of task models are
applicable to the current scene and the human motions, the mechanism
for selecting an appropriate one is needed. For more flexible
cooperation, estimation of human states and error recovery based on it
are significant. For the general mechanical assembly, more general
definition% for functions and states is needed. In addition, the
operation control mechanisms using force sensors and skills are
needed.
[Photos of cooperation experiments based on a series of task models]
-
Six patterns of cooperation were
executed according to the human motions.
- Those were (Movies)

(a) -> (b) -> (c) -> (d),(945Kbytes)
(a) -> (b) -> (c) -> (e) -> (f),(492Kbytes)
(a) -> (g) -> (c) -> (d),(1,163Kbytes)
(a) -> (g) -> (c) -> (e) -> (f),(739Kbytes)
(a) -> (g) -> (h) -> (i) -> (e) -> (f),
(a) -> (g) -> (h) -> (i) -> (j).(1,199Kbytes)
- The meaning of each scene was as follows:
(a) The human hand grasped #parts1.
(b) The human hand grasped #parts2.
(c) The robot hand grasped #driver.
The human hand fixed #parts2.f(2) to #parts1.f(1).
(d) The robot hand fixed #driver to #parts1.f(3).
(e) The human hand requested #driver by hand motion.
(f) The robot hand passed #driver to the human hand.
(g) The robot hand grasped #parts2.
(h) The robot hand fixed #parts2.f(2) to #parts1.f(1).
(i) The robot hand grasped #driver.
(j) The robot hand fixed #driver to #parts1.f(3).
A series of task models was
generated by analysis of
the human demonstration (movie:993Kbytes)
using a event-stack mechanism.
Hardware & Software System.