Interactions Of An Anthropomorphic Simulated Human With A Simulated Service Robot  

Oleh:

Agah, Arvin ; Tanie, Kazuo

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: Simulation vol. 72 no. 1 (Jan. 1996), page 12-19.
Topik: Simulated humans; robot simulation; human-robot interaction; anthropomorphic movement modeling; service robotics.
Fulltext: 12.pdf (760.22KB)

Isi artikel

It is expected that robots of the future will coexist and interact with humans in places such as homes and offices. In order to make the interaction of service robots with humans safe and effective, new technologies must be developed, ranging from physical material design for robot bodies, to intelligent controllers. Simulation provides a convenient and efficient research environment for design, testing and implementation of service robots. This paper presents a simulated world that includes a realistic simulated human and a simulated robot which delivers and hands over an object to the human. The human is made realistic by being modeled using physiological data and anthropomorphic equations of motion. The robot’s design is also based upon realistic specifications. The robot’s intelligence is achieved through a number of independent software agents that contend for the robot’s behavior production, named Contention Architecture. The proposed actions of the autonomous agents are evaluated based on a number of criteria so as to select one action to be taken by the robot. The experimental results of the interaction between human and robot through the task of handover is presented. It is shown that the robot is not only capable of performing the task effectively, but is also able to compensate for the unexpected movements of the human, while allowing no harm to come to the person through physical contact.

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