Tumori Control : Manipulate Robot with detection and transmission of an Archetype of Behavioral Intention

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  • Niwa Masataka
    Graduate School of Information Science and Technology, Osaka University
  • Iizuka Hiroyuki
    Graduate School of Information Science and Technology, Osaka University
  • Ando Hideyuki
    Graduate School of Information Science and Technology, Osaka University
  • Maeda Taro
    Graduate School of Information Science and Technology, Osaka University

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Other Title
  • つもり制御 : 人間の行動意図の検出と伝送によるロボット操縦(<特集>テレイグジスタンスのためのロボティクス・グラフィクス・インタフェース)
  • つもり制御 : 人間の行動意図の検出と伝送によるロボット操縦
  • ツモリ セイギョ : ニンゲン ノ コウドウ イト ノ ケンシュツ ト デンソウ ニ ヨル ロボット ソウジュウ

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Abstract

We propose novel architecture to realize a low-degree of freedom (DOF) Tsumori controller to manipulate a high-DOF robot. We believe that humans can immerse themselves to manipulate a robot if the robot reflects user intention. In our Tsumori controller, the user intuitively operates a joystick, and the robot moves semi -autonomously and reflects the user's intention that is extracted from intuitive input sequences. In this paper, we explain how to extract Tsumori, which is an archetype of human behavioral intention, and how to realize a Tsumori controller.

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