リーダーフォロワ型ロボットにおける操作意図推定精度の改善

抄録

A leader-follower robot has the feature of remote operation, so that it can be applied to a work environment which is dangerous to its operator. However, there still be a risk that the operator of this robot may make an erroneous operation due to many reasons, such as fatigue. Based on the feature of remote operation, the follower robot will faithfully perform the erroneous operation, which may be dangerous. In this research, we are aiming to develop a method that can suppress the effect of erroneous operation by estimating the operator’s correct intention, and using the correct intention to operate the leader-follower robot. In this report, we carry out a method that improves the accuracy of intention estimation method by applying a kalman filter.