Human-Robot Cooperation with Commands Embedded in Actions
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- KOBAYASHI Kazuki
- School of Multidisciplinary Science, Department of Informatics, The Graduate University for Advanced Studies
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- YAMADA Seiji
- National Institute of Informatics, The Graduate University for Advanced Studies
Bibliographic Information
- Other Title
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- 行為に埋め込まれたコマンドによる人間とロボットの協調
- コウイ ニ ウメ コマレタ コマンド ニ ヨル ニンゲン ト ロボット ノ キョウチョウ
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Abstract
In this paper, we first propose a novel interaction model, CEA (Commands Embedded in Actions). It can explain the way how some existing systems reduce the work-load of their user. We next extend the CEA and build ECEA (Extended CEA) model. The ECEA enables robots to achieve more complicated tasks. On this extension, we employ ACS (Action Coding System) which can describe segmented human acts and clarifies the relationship between user's actions and robot's actions in a task. The ACS utilizes the CEA's strong point which enables a user to send a command to a robot by his/her natural action for the task. The instance of the ECEA led by using the ACS is a temporal extension which has the user keep a final state of a previous his/her action. We apply the temporal extension of the ECEA for a sweeping task. The high-level task, a cooperative task between the user and the robot can be realized. The robot with simple reactive behavior can sweep the region of under an object when the user picks up the object. In addition, we measure user's cognitive loads on the ECEA and a traditional method, DCM (Direct Commanding Method) in the sweeping task, and compare between them. The results show that the ECEA has a lower cognitive load than the DCM significantly.
Journal
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- Transactions of the Japanese Society for Artificial Intelligence
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Transactions of the Japanese Society for Artificial Intelligence 21 63-72, 2006
The Japanese Society for Artificial Intelligence
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Details 詳細情報について
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- CRID
- 1390282680084204672
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- NII Article ID
- 130000093876
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- NII Book ID
- AA11579226
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- ISSN
- 13468030
- 13460714
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- NDL BIB ID
- 8686385
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed