A Mobile Robot Operation with Instruction of Neck Movement using Laser Pointer

• SHIBATA Satoru

  Graduate School of Science and Engineering, Ehime University

• YAMAMOTO Tomonori

  Graduate School of Science and Engineering, Ehime University

• JINDAI Mitsuru

  Faculty of Computer Science and System Engineering, Okayama Prefectural University

抄録

A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the omni-directional mobile robot by rotating his or her head. The mobile robot can realize intended movement by following the movement of the laser spot on the floor. By projecting an instructive point to be followed by the mobile robot, the user can clearly recognize the relation between the direction being faced and the desired position of the mobile robot. In addition, the user can convey a motion trajectory to the mobile robot continuously. Kansei transfer function is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and autonomous motion mode to the target, are considered. The effectiveness of the proposed system was discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations.

収録刊行物

• Ｋａｎｓｅｉ　Ｅｎｇｉｎｅｅｒｉｎｇ　Ｉｎｔｅｒｎａｔｉｏｎａｌ　Ｊｏｕｒｎａｌ

  Ｋａｎｓｅｉ　Ｅｎｇｉｎｅｅｒｉｎｇ　Ｉｎｔｅｒｎａｔｉｏｎａｌ　Ｊｏｕｒｎａｌ 11 (2), 51-58, 2012

  日本感性工学会

キーワード

• Human-Robot System
• Instruction with Movement of Neck
• Kansei Transfer Function
• Three Modes

詳細情報

• CRID: 1390001205325910144
• NII論文ID: 130002148639
• DOI: 10.5057/kei.11.51
• BIBCODE: 2012KEIJ...11...51S
• ISSN: 21857865
• ISSN: 18840841
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可