全身触覚を持つロボットによる人間の位置・姿勢の推定

抄録

In this paper, we propose a method to estimate a human's positions and postures by utilizing tactile information collected by a robot. We build a map that describes the correspondences of tactile information to the human's positions and postures. This map consists of clusters of tactile sensor data patterns and probability distributions of the positions of markers fixed to the human body. The marker positions are measured by a 3-D motion capturing system. By utilizing this map, a robot can estimate human positions and postures from the tactile information. To verify the validity of our method, we conducted experiments using a robot covered with soft skin embedded with 46 tactile sensors. First, we collected data of human positions, postures and tactile information during an interaction between a human and the robot. Second, we built a map based on this information. Finally, we implemented our method allowing the robot to estimate the human's positions and postures.