Cooperative works for agent robot and human using robot vision based on the model of knowledge, emotion and intention

摘要

In recent years, emphasis has been placed upon the development of a welfare support system that takes into account the aging society. Realization of cooperative work between welfare agent robots (following agent robots) that support a user and the user in a welfare system is indispensable. For that purpose, all agent robots have a common control mechanism, and cooperative work between the agents and the human is generated through the dynamic determination of each robot's actions. Furthermore, even when an agent robot is performing a task, it is desirable for it to observe the user spontaneously. Robot vision is constructed using a model of knowledge, emotion and intention, from which welfare oriented active vision is realized. In this paper, we report a technique for realizing this robot-human cooperation, and demonstrate the validity of welfare oriented active vision.