Cognitive integrated motion generation for environmental adaptive robots

摘要

Abstract Recently, active researches have been performed to increase a robot's intelligence so as to realize dexterous tasks in complex environments such as in the street or homes. However, since skillful human‐like task ability is so difficult to formulate 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 alone. We show a novel motion generation approach to integrate the cognitive information into mimickry of human motions so as to realize the final complex task by the robot. As a detailed example of the task, we consider how to carry up a human by cooperating two hands. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 156(3): 62–70, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20349