Cognitive Integrated Motion Generation for Environmental Adaptive Robots

摘要

Recently, active researches have been performed to increase a robot's intelligence so as to realize the dexterous tasks in complex environment such as in the street or homes. However, since the skillful human-like task ability is so difficult to be formulated for the robot, not only the analytical and theoretical control researches but also the direct human motion mimetic approach is necessary. In this paper, we propose that to realize the environmental interactive task, it is insufficient to replay the human motion along. We show a novel motion generation approach to integrate the cognitive information into the mimic of human motions so as to realize the final complex task by the robot. As a detailed example of the task, we consider on how to carry up a human by cooperating two hands.