1A1-A15 没入型遠隔操縦システムを用いた人間のスキルの伝達 : 第2報 : 様々な条件下における操縦スキルの変化(動作計画と制御の新展開)

抄録

In order to build programs of behavioral decision for autonomous mobile robots, various type of algorithms based on dynamics, geometry, statistics and so on have been adopted. However, there are several difficulties to develop such algorithms. In this paper, as an approach to building programs for autonomous robots, the extraction of human decision rules and the implementation of them to the robot are described. We have developed the immersive remote control system, which can give an operator the physical feature of the robot virtually, and analyzed the human operation by floor area projected onto the screens and joystick command. The robot to which an operator's skill is transferred exhibits similar patterns of motion to the operator's. Furthermore, the robot can adapt to inexperienced environment and drive autonomously.