身体性を有するユーザインタフェースを用いたインタラクションシステムの研究 A study of interaction system using a humanoid robot as the user interface

博士論文

2007

Robots, such as industrial ones, have chiefly been considered as machines thatperform work in place of human beings. On the other hand, personal robots such as petrobots and interactive robots are good examples of utilizing real objects. A robot can beregarded as a computer with a physical body that enables it to interact with the realworld. Hence, if one considers the characteristics of their physical embodiment, robotscan also be recognized as interfaces for human beings.In this thesis, the robot is used as an interface for human behavior. A person can do anintuitive interaction to the real world, information world, and Mixed Reality worldusing robot. The person can input by operating the robot having it directly by the hand,and the output can be obtained by the movement of the robot.When the person does the interaction to the information world, the robot enable theperson to intuitive input and get haptic, shape and visual information back by operatingthe humanoid robot by synchronizing the CG character.Moreover, the person can interact with real object in real world and Mixed Realityworld by making the best use of the body of the robot. I/O using the body shape of therobot is enabled as an operation of real objects for the home appliance such as lampsand fans.By combining the robot with the Mixed Reality technology, people can do remotecommunication through Mixed Reality world. In addition the visual information, shapeand externals information on robot can be enhanced in superimposing a variety of CGmodels that shape synchronizes with the robot. The bodily movement of the robot canbe easily changed by applying a physical simulation.