2013年
人間との握手接近動作を行う小型握手ロボットシステム
日本機械学会論文集 C編
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- 巻
- 79
- 号
- 803
- 開始ページ
- 2383
- 終了ページ
- 2393
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1299/kikaic.79.2383
- 出版者・発行元
- The Japan Society of Mechanical Engineers
Small-size embodied interaction robots are required for use in home. These robots are expected to shake hands with human to promote embodied interaction. Therefore, in this paper, we develop a small-size handshake robot system for a generation of a handshake approaching motion. The handshake approaching motion has two motions. The first motion is a handshake request motion that the robot stretches its hand to a human as requesting a handshake. The other motion is a handshake response motion in which the robot responds a handshake when the human requests a handshake to the robot. In this robot system, a human hand position is estimated by using an image processing which is combined with a 3D arm model, and handshake approaching motions are generated using the estimated hand position. The effectiveness of the small-size handshake robot system is demonstrated by sensory evaluation of these handshake approaching motions.
- リンク情報
- ID情報
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- DOI : 10.1299/kikaic.79.2383
- ISSN : 0387-5024
- J-Global ID : 201302270531972211
- CiNii Articles ID : 130003375113
- identifiers.cinii_nr_id : 9000240088838
- SCOPUS ID : 84881402777