Communicative humanoid robot control system reflecting human body movement

摘要

Recently, humanoid robot has been focused and researched as the medium of remote communication, because it enables us to transmit nonverbal information and share the physical space. However, in the existing studies about robot control system by human body movement, the detailed structure information of the robot (e.g., degrees of freedom, the range of motion and forms) must be examined in order to calculate inverse kinematics. In our previous work, we proposed Associative Motion Generation (AMG) as humanoid robot motion generation method which does not need detailed structure information of the robot. In this paper, we propose the remote physical communication system using the small humanoid robot that enables us intuitively to control the robot. And by using AMG, the proposed system can be applied to any robots, since general wide-spread of communication using humanoid robot are expected. Through the communication experiment, we confirmed the effectiveness of the proposed system.