Provocation of robot behaviors based on the affordances of mechanical objects

基于机械物体的可供性激发机器人行为

基本信息

批准号：
11650265
负责人：
TANI Kazuo
金额：
$ 2.24万
依托单位：
Gifu University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650265/
关键词：
affordance robot autonomous machine behavior disassembly of product

项目摘要

Simulations have been conducted to show the possibility of mechanical products to be disassembled by a robot that finds parts in the product and provokes behaviors proper to the parts. A behavior of turning over the product is added to the conventional behaviors of turning screws and taking parts apart to enables the robot to attack multiple sides of the product. The robot's provocation of the behaviors can be regarded as the robot's acceptance of the affordances presented by the product or parts. We have shown by simulation that imposing certain rules to the acceptance of affordances, i.e. provocation of behaviors, makes the disassembly proceed effectively. For example, the robot should try another object if it fails in taking one apart, and it should try on another face of the product if it fails on one.To demonstrate this concept, we have tried disassembly of real but simple mechanical products and built a network robotics system consisting of several subsystems, each taking care of … More its own device such as a robot, a vision sensor, a force sensor, etc., to carry out disassembly experiments. The vision subsystem detects hexagonal and rectangular shapes, corresponding to bolts and blocks, and sends their positions to the robot subsystem. The robot subsystem, for example, provokes the behavior of turning counterclockwise in case of a hexagon, and the behavior of pulling upwards in case of a rectangle. We use such methods as template matching, autocorrelation, and Hough transformation.To investigate the behavior to remove a part using force sensor information, a structure of behaviors for escaping a maze using force sensor information is built referencing to a human behavior.For the cooperation between robots, an experiment is conducted on the network robotics system, where the motion of a robot is measured by a position sensor subsystem for another robot of another subsystem to follow.Thus the fundamentals for the experiment of the provocation of robot behaviors based on the affordances are established. Less

进行了仿真，以表明机器人可以拆卸机械产品的可能性，该机器人可以找到产品中的零件并激发适合零件的行为。将产品翻转产品的行为添加到旋转螺钉并将零件拆开以使机器人能够攻击产品的多个侧面的传统行为中。机器人对行为的挑衅可以被视为机器人对产品或零件提供的负担的接受。我们通过模拟表明，将某些规则强加于承受能力的接受，即挑衅行为，使拆卸有效地进行。例如，如果机器人无法将一个对象拆开，则应尝试另一个对象，如果它失败了，则应尝试在产品的另一面尝试。要证明这一概念，我们尝试拆卸真实但简单的机械产品，并构建了一个由几个子系统组成的网络机器人系统，每个子系是由几个子设备组成的，每个设备都在诸如机器人，诸如机器人，一个视觉传感器等方面，可以遵守实验器，等等，等等。视觉子系统检测到对应于螺栓和块的六角形和矩形形状，并将其位置发送到机器人子系统。例如，机器人子系统在六角形的情况下挑衅逆时针旋转的行为，以及在矩形时向上拉的行为。 We use such methods as template matching, autocorrelation, and Hough transformation.To investigate the behavior to remove a part using force sensor information, a structure of behaviors for escaping a maze using force sensor information is built referencing to a human behavior.For the cooperation between robots, an experiment is conducted on the network robots system, where the motion of a robot is measured by a position sensor subsystem for another robot of another subsystem to follow.Thus建立了基于挑衅机器人行为的实验的基本原理。较少的