握住我的手:开发一种力量控制器和系统架构,用于与伴侣机器人一起走路
Enrique Coronado1,2, Toshifumi Shinya2, Gentiane Venture1,2
1National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan.
Sensors (Basel, Switzerland)
|July 8, 2023
概括
这项研究引入了一种新的系统,使Pepper人形机器人能够一起行走,握手,并与环境互动. 它使用力量估计和对象识别来增强人机交互.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
- 人工智能的人工智能
背景情况:
- 人们对机器人系统越来越感兴趣,以提高生活质量.
- 像Pepper这样的人形机器人提供了用户友好的交互潜力.
- 需要集成系统,使社交和交互式机器人行为成为可能.
研究的目的:
- 为Pepper机器人提出一个新的系统架构.
- 为了使机器人之间能够同步并排行走路和握手.
- 为了促进环境意识的沟通和互动.
主要方法:
- 开发了一个集成多个控制和感知模块的系统架构.
- 通过将动力学模型扭矩与当前测量进行比较,实现了一个力观察器.
- 利用Pepper的机载摄像头进行对象识别,以实现响应式通信.
主要成果:
- 成功演示了Pepper机器人能够在握手时并肩行走的能力.
- 使机器人能够根据其环境中识别的对象进行沟通回应.
- 验证了集成系统实现其预期交互功能的能力.
结论:
- 拟议的系统架构有效地使人形机器人具有社交交互能力.
- 力量估计和对象识别是直观的人机协作的关键组成部分.
- 这项研究推动了辅助和伴侣机器人的发展,以提高生活质量.
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