計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
対話と道具利用が必要となるお弁当盛り付け行動実現を通した家事支援ロボット研究の基盤システム構築
種本 雅長谷川 峻岡田 慧稲葉 雅幸
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ジャーナル 認証あり

2022 年 58 巻 6 号 p. 290-303

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Housekeeping robot must grow as it lives with the user. To build a system that can serve as a foundation for this purpose, we need to discover what we need to research further through the realization of a housework support task by a robot, and need to solve these problems. In this paper, we tackle the task of bento-serving as a household chore support task, and describe new problems that we discovered through the implementation of it. As for the bento-serving, it has been assumed that the robot performs the task in a factory. In this paper, we reconsider the bento-serving task by a robot as a part of our household support and propose a system to make it happen. When a housework assistance robot does the bento-serving, he needs to recognize the prepared foods and environment, interact with the owner, and manipulate foods without destroying them. Through the realization of the bento-serving task, we found that the housekeeping robot has to deal with objects of the same type but with different shapes, plan movements with user preferences in mind, and perform the entire sequence of actions by himself. To achieve these goals, we propose a system consisting of five processes, recognition of the environment and food, acquisition of information through dialogue, storage of the information, devising a goal using the acquired information, and manipulation of the objects using tools.

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© 2022 公益社団法人 計測自動制御学会
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