握手ロボットシステムのための揺すり動作移行モデルの開発(機械力学,計測,自動制御)

抄録

A handshake is an embodied interaction to display human closeness by way of physical contact. To enable a robot to shake hands with a human, we have proposed models that simulate the handshake approaching motion and the handshaking motion by analyzing the handshake motion between humans. These models simulate the approaching motion and the handshaking motion of the human hands during a handshake. However, in addition to the above two motions, smooth transition from the approaching motion to the handshaking motion is necessary to ensure a firm handshake between the robot and a human. In this paper, we analyze the handshaking motion between humans and propose a model to ensure a smooth transition from the approaching motion to the handshaking motion. By using this model, the robot leads the human to the handshaking motion by actively making a leading motion that is synchronized with the start timing of the handshaking motion. Furthermore, a handshake robot system is developed based on this model, and experiments are performed using it. The experimental results show the effectiveness of the proposed model. The robot begins the handshaking motion 0.2 seconds after gripping the human hand, and the direction of motion is determined by the contact height of the robot and human hands.