Title:
認識的アフォーダンスに基づくロボットから人間への物体ハンドオーバの適合
Document Type and Number:
Japanese Patent JP6439817
Kind Code:
B2
Abstract:
This disclosure describes, according to some implementations, a system and method for adapting object handover from robot to human using perceptual affordances. In an example method, upon receiving sensor data describing surroundings and/or operational state of a robot unit from a sensor, the method calculates a probability of a perceptual classification based on the sensor data. The perceptual classification may be one or more of an environment classification, an object classification, a human action classification, or an electro-mechanical state classification. The method further calculates an affordance of the probability of the perceptual classifier using a preference model, determines a handover action based on the affordance, executes the handover action, and updates the preference model based on feedback.
Inventors:
Eric Martinson
Kim, david
Shishbot, Emla Akhun
Yusuke Nakano
Kim, david
Shishbot, Emla Akhun
Yusuke Nakano
Application Number:
JP2017064903A
Publication Date:
December 19, 2018
Filing Date:
March 29, 2017
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B25J5/00
Domestic Patent References:
| JP2013022705A | ||||
| JP2007152445A | ||||
| JP2004291228A | ||||
| JP2011245577A | ||||
| JP2012139798A | ||||
| JP2011200970A | ||||
| JP2015187856A | ||||
| JP2016012340A | ||||
| JP2003039365A | ||||
| JP2002254376A | ||||
| JP2003271958A |
Foreign References:
| WO2009031486A1 | ||||
| WO2006006624A1 |
Other References:
佐藤 泰成,人の手の姿勢に着目したロボットによる手渡し動作の評価,第33回日本ロボット学会学術講演会予稿集DVD-ROM 2015年 The 33rd Annual Conference of the Robotics Society of Japan
山本 智規 Tomonori YAMAMOTO,感性伝達関数を用いた腕型ロボットから人間への手渡し動作 Handing Motion of an Arm Robot to a Human Using "Kansei" Transfer Function,第24回日本ロボット学会学術講演会予稿集CD-ROM 2006年 The 24th Annual Conference of the Robotics Society of Japan 第24回日本ロボット学会学術講演会予稿集,社団法人日本ロボット学会
山本 智規 Tomonori YAMAMOTO,感性伝達関数を用いた腕型ロボットから人間への手渡し動作 Handing Motion of an Arm Robot to a Human Using "Kansei" Transfer Function,第24回日本ロボット学会学術講演会予稿集CD-ROM 2006年 The 24th Annual Conference of the Robotics Society of Japan 第24回日本ロボット学会学術講演会予稿集,社団法人日本ロボット学会
Attorney, Agent or Firm:
Yoshiyuki Kawaguchi
Kazunobu Sera
Akira Hirakawa
Takehiko Sekine
Katsuhiko Imahori
Fuminori Miyashita
Hironobu Yazawa
Atsushi Kokubo
Kazunobu Sera
Akira Hirakawa
Takehiko Sekine
Katsuhiko Imahori
Fuminori Miyashita
Hironobu Yazawa
Atsushi Kokubo