リーダーフォロワ型ロボットにおける操作意図推定手法の実験的検証

抄録

A leader-follower robot that maintains the safety of operator by remote control is effective for in extreme environments. The follower robot needs to respond to the motion of the operator, but it is also necessary to estimate the operation intention in order to maintain safety. In this research, during operation under several situations, the current operation intention is estimated from sensory input and the history of operation intention. In addition, the operation target value is determined by the operation intention for the controlling of the follower robot’s motion and some sensors’ values. That the operation target values can be calculated is verified by simulated experiments.