English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper, we propose a hand-over motion model based on analyses of hand motions and voice utterances of humans. This model generates a motion in which a robot hands over an object to a human accompanied by a voice greeting. In this model, a hand-over motion is generated based on the analyses of human hand-over motions; in particular, the timing between the voice utterances and the release motions of humans is analyzed. Then, the model generates the release motion of a robot in response to a voice utterance from a human. Furthermore, using the proposed hand-over motion model, two types of hand-over robot systems are developed. The first type is a human-arm handing-over robot system which is fabricated according to the average size of a human arm. The other type is a Cartesian-coordinate handing-over robot system. The effectiveness of the proposed model is demonstrated by sensory evaluation using these hand-over robot systems. Furthermore, using the Cartesian-coordinate handing-over robot system, the number of degrees of freedom is analyzed in order to generate a handing-over motion which is preferred by humans. 1. 緒 言 近年では,生活支援や医療介護などの分野において,ロボットが人間と協調して作業を行うことが期待されてい る.とくに,人間のために身の回りのものを運ぶ,手渡すといったタスクを行うロボットの存在は極めて有益であ る.ロボットが人間と手渡しを行う場合,ロボットは人間に恐怖感や違和感などを与えない,人間に好まれる動作 を生成する必要がある.これまでに人間とロボットとの手渡し動作に関する研究 (Aleotti, et al., 2012),(Cakmak, et al., 2011),(Jindai, et al., 2009),( 梶川,2002)が報告されている.これらの研究では,人間とロボットとの手渡し動作 において人間に好まれるロボットの動作特性や人間の動作特性に基づく軌道生成法が提案されているが,掛け声 となる音声を伴った手渡し動作は対象としていない.しかしながら,人間同士の手渡し動作では,掛け声と共に対 象物を差し出すなど音声を伴った手渡し動作を行うことがある.この掛け声となる音声を発声することで,互い の身体的リズムを同調させ,円滑な手渡しを実現していると考えられる.人間とロボットとの音声を伴う手渡し 動作では,ロボットが発声する音声がロボットの動作予告の役割を担っていると考えられ,動作予告を行うロボッ ∗1 正員,富山大学大学院理工学研究部 (〒 930-8555富山県富山市五福 3190) ∗2 正員,岡山県立大学大学院情報系工学研究科 (〒 719-1197岡山県総社市窪木 111番) E-mail of corresponding author: jindai@eng.u-toyama.ac.jp *1 Graduate School of Science and Engineering, University of Toyama 3190 Gofuku, Toyama-shi, Toyama 930-8555, Japan *2 Graduate S hool of Systems Engineering, Okayama Prefectural University 111 Kuboki, Soja-shi, Okayama 719-1197, Japan Received 22 February 2014

Handing-over motion model based on analyses of hand motions and voice utterances of humans