1P1-G10 A Voice Instruction System for a Robotic Forceps Considering Three-Dimensional Posture and Depth

Abstract

Fuzzy coach-player system has been proposed as a robot instruction system using a voice interface. In the fuzzy coach-player system, a relation between human and robot is thought as that between coach and player. The voice instruction uttered by the coach that involves a degree-related adverb is guantified by using a fuzzy reasoning. The present paper is concerned with instructions for operating any postures of a forceps in three-dimensional space. Since it is not easy to judge the depth of a work space displayed in two-dimensional image, a lighting is considered to generate the shadow of a forceps. The effectiveness of the proposed method is demonstrated by experiments.