Positioning control of robot based on human motion analysis

Abstract

In this paper, we discuss about human friendly robot control system via voice instruction. In voice instruction, ambiguous degree expression is frequently used (“i.e. Move it a little. or Lift it more.”). Therefore, we analyze human arm movement in positioning task guided by some ambigous degree expression. From this analysis, we obtain a model which can calculate the movement displacement according to each degree expression. Experimental results show our model can lead the robot to target position with several times of instructions as human does.