感性伝達関数を用いた首振り動作によるロボット指示に関する研究

抄録

When a human gives instructions to a robot, simple and intuitive instruction method is needed. In this research, we suggest an interface to give robot instructions by the movement of the human head. The intersection point between the table top and the extension line of the head direction is treated as the instruction point and the interface system where the robot follows the movement of the instruction point is constructed. Furthermore, the “Kansei”transfer function whose input is the instruction point and the output is the reference point of the robot motion is introduced. The human instructions are converted to smooth movements of the reference point using the “Kansei”transfer function. The parameter of the “Kansei”transfer function were experimentally examined for their influence on human emotion and sensitivity.