دورية أكاديمية
Handing-over motion model based on analyses of hand motions and voice utterances of humans
العنوان: | Handing-over motion model based on analyses of hand motions and voice utterances of humans |
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المؤلفون: | Mitsuru JINDAI, Shunsuke OTA, Yusuke IKEMOTO, Tohru SASAKI |
المصدر: | Nihon Kikai Gakkai ronbunshu, Vol 80, Iss 817, Pp DR0262-DR0262 (2014) |
بيانات النشر: | The Japan Society of Mechanical Engineers, 2014. |
سنة النشر: | 2014 |
المجموعة: | LCC:Mechanical engineering and machinery |
مصطلحات موضوعية: | handing-over motion, robot-human system, embodied interaction, trajectory generation, Mechanical engineering and machinery, TJ1-1570, Engineering machinery, tools, and implements, TA213-215 |
الوصف: | 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. |
نوع الوثيقة: | article |
وصف الملف: | electronic resource |
اللغة: | Japanese |
تدمد: | 2187-9761 |
Relation: | https://www.jstage.jst.go.jp/article/transjsme/80/817/80_2014dr0262/_pdf/-char/en; https://doaj.org/toc/2187-9761 |
DOI: | 10.1299/transjsme.2014dr0262 |
URL الوصول: | https://doaj.org/article/a3f36d612cb1449099a9cfb869b3f3db |
رقم الأكسشن: | edsdoj.3f36d612cb1449099a9cfb869b3f3db |
قاعدة البيانات: | Directory of Open Access Journals |
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