| 小竹 宙樹 | M, 2回目発表 | ヒューマンロボティクス | 和田 隆広 | 松原 崇充 | 織田 泰彰 | 劉 海龍 | 本司 澄空 |
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title:Admittance-Passive Velocity Field Control for Human-Robot Co-carrying tasks with Human Intention Change
abstract:Human-Robot-Interaction is expected to improve work efficiency by combining the high recognition ability of humans with the high-power and high-accuracy movements of robots. For example, in a task where Human and Robot carry the same object, the robot needs to follow the human's intention as necessary while reducing the human's workload. However, there are cases in which the robot cannot estimate the human's intention due to an immediate human action such as avoiding an obstacle, which may increase the workload on the human or cause danger to the human. In this research, we solve the above problems by combining passive velocity field control, which satisfies the passivity of the system, and admittance control, which enables trajectory generation in response to external forces, and apply it to the Human-Robot Co-carrying tasks. Experiments are conducted for multiple scenarios of the Co-carrying tasks to verify the effectiveness of the control method. 発表題目:人ロボット共同運搬作業における人間の意図変動に対応可能なアドミッタンス–受動速度場制御 発表概要:ヒューマンロボットインタラクションにおいて，人間の高い認知機能とロボットの高出力・高精度な動作の組み合わせによる作業の効率化が期待されている．例えば人間とロボットが同じ物体を運搬するタスクでは，ロボットは人間の作業負荷を低減させつつ，適宜人間の意図に従う必要がある．しかし，障害物回避などの咄嗟の人間の動作により，ロボットによる人間の意図の推定では対応できない場合があり，その時，人間への負担が大きくなることや危害が加わる可能性が考えられる．本研究では，システムの受動性を満足する受動速度場制御と外力に応答した軌道生成が可能なアドミッタンス制御を統合することで上記の問題を解決し，人ロボット共同運搬タスクに適用する．運搬タスクを想定した複数のシナリオに対して実験を実施し，制御手法の有効性を検証する． | |||||||
| 酒井 大輔 | M, 2回目発表 | ヒューマンロボティクス | 和田 隆広 | 松原 崇充 | 織田 泰彰 | 劉 海龍 | 本司 澄空 |
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title:The effect of vehicle maneuverability on vestibulo-ocular reflex abstract:When operating machine, the accuracy and gain of the vestibulo-ocular reflex (VOR) are correlated with factors such as the sense of agency and mental workload. This study investigated how changes in machine dynamics and the resulting differences in maneuverability affect the VOR. In the experiment, participants were seated on a horizontally rotatable chair and controlled the chair's rotation using a joystick. During the task, participants were required to maintain a constant rhythm and rotate to target angles. After completing the task, participants filled out a questionnaire to assess their subjective ratings of mental workload and maneuverability. Preliminary results suggest that VOR accuracy tends to be higher when machine dynamics offer better maneuverability. language of the presentation:Japanese | |||||||
| 松本 暖樹 | M, 2回目発表 | ヒューマンロボティクス | 和田 隆広 | 松原 崇充 | 織田 泰彰 | 劉 海龍 | 本司 澄空 |
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title:Effect of Mutual Communication on Human-Robot Handovers during Multitasking
abstract:In human-robot collaboration, the handover task is expected in many situations. To smoothly carry out handovers between the human and the robot, communication to understand the other agent’s intention is essential. This research aims to achieve fast and accurate handovers in situations involving multiple tasks and to reduce the psychological burden on the workers by mutually presenting information between two agents. The impact of different robot control algorithms and the presentation of mechanical states on handovers will be verified through subject experiments. language of the presentation:Japanese 発表題目:人-ロボット相互コミュニケーションがマルチタスク時の両者間の物体受け渡しに及ぼす効果 発表概要:人-ロボット協働において、相互の物体受け渡しタスクが多くの場面で想定される．人間-ロボット間の受け渡しを円滑に行うためには，相手の意図を理解するためのコミュニケーションが不可欠である．本研究では二者間で相互に情報提示を行うことで、複数のタスクが絡む状況下での受け渡しの高速かつ正確な動作の実現及び作業者の心理的負荷の軽減を目的とする．複数のロボット制御アルゴリズム及び力学状態提示の違いが受け渡しに及ぼす影響を被験者実験を通じて検証する． | |||||||
| 佐藤 瑛人 | D, 中間発表 | ヒューマンロボティクス | 和田 隆広 | 松原 崇充 | 織田 泰彰 | 劉 海龍 | 本司 澄空 |
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title: Human-Centered Haptic Shared Control Using Human-Machine Intercommunication for Remotely Operated Vehicles with Variable Sensor Accuracy
abstract: We focus on Haptic Shared Control (HSC) for remotely operated vehicles. HSC has been studied to improve vehicle stability and to reduce the burden of vehicle operation, but no method has been established to assist humans in fields where measuring vehicle surroundings may be uncertain. However, there is no established method to assist humans in fields where sensor information can be uncertain. In addition, HSC uses the same input terminal for both humans and machines, which reduces control accuracy compared to fully autonomous control without a terminal. In this study, we propose a human-centered HSC in the activity field that includes situations where sensor noise is large, or the sensor is unavailable. The proposed method consists of two approaches. (1) Information transfer for humans to determine the intensity of HSC presentation, and (2) Improvement of control accuracy by switching between Shared and Autonomous control. Since the information available to humans is limited in remote control, we aim to assist human cognition and judgment by communicating additional information indicating the system status and to improve accuracy by performing fully autonomous control when the sensors are fully functional. In this presentation, we will report the results of (1) information conveying to humans and HSC strength determination and discuss control method switching techniques using these results. language of the presentation: Japanese 発表題目: センサ精度が変動する遠隔操縦車両の人間—機械相互コミュニケーションを用いた人間主体Haptic Shared Control 発表概要: 遠隔操縦車両操縦のHaptic Shared Control(HSC)に着目する．HSCは自動車等の操縦で車両安定性の向上や操縦負担軽減を目指す研究が進んでいるが，機体や周囲の状態を測定するセンサ情報が不確実となりうる領域での人間に対する補助方法は確立されていない．また，HSCは人間と機械が同一の入力端末を用いる特性上，端末を経由しない完全自律制御より制御精度が低減する．本研究では，センサノイズが大きい，または使用不可となる状況を含む活動領域における人間主体型のHSCを提案する．提案手法は２つのアプローチからなる．① 人間がHSCの提示強度を決定するための情報伝達 ② Shared, Autonomous controlの切替による制御精度向上．遠隔操縦では人間が得られる情報が限られるため，システムの状態を示す情報を追加で伝達することで人間の認知・判断を補助し，センサが十全に機能する状態では完全自律制御を行うことで精度向上を目指す．本発表では，①の人間に対する情報伝達とHSC強度決定についての結果を報告し，それを用いた制御方法切り替え手法について議論を行う． | |||||||