Motion recognition based cooperation between human operating robot and autonomous assistant robot

摘要

The purpose of this research is to make multiple robots perform a designated task according to the intentions of a human operator. Since operating multiple robots simultaneously is difficult for a human operator, we propose a cooperation style in which the human operates one robot and the other autonomous robots assist it. In order to assist the human operating robot, the autonomous robots must recognize its motions in real time. In this paper, we propose the same motion recognition mechanism that is used in the human cognition model. We implement the motion symbolization method and the motion recognition method using the fuzzy filter and the template matching with predefined patterns. We implement the "task-operation model" to describe the motion of the autonomous robot's assistance mechanism, and the "event driven method" to manage the execution of this motion. The effectiveness of these methods is tested through an experiment in which two hexapod robots lift a box in cooperation.