基于被动声反馈的工业协作型人形机器人的高级音乐锯操作

H. Hanai, A. Miura, T. Hirogaki, E. Aoyama
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引用次数: 0

摘要

近年来,能够与人类一起工作的协作机器人在生产现场和工厂自动化领域得到了广泛应用。在这种情况下,目标是提供一个生产场所,协作机器人可以与人类共享各种类型的工具。然而,我们还没有达到协作机器人和人类可以共享高级技能工具的地步。因此,研究协作机器人如何控制需要人类技能的高级工具以及实现这种控制的过程是非常重要的。乐器是最难操作的工具之一。关注乐器很重要,因为它们让我们不仅可以通过评估机器人的动作来评估机器人的操作,还可以通过评估产生的声音来评估机器人的操作。在这项研究中,我们认为一个灵活的和大的可变形的音乐锯是一个未知的和先进的工具,人类难以操纵。在之前的报道中,采用了一种仿人的支持方法,利用协作式仿人机器人提供基于击打声反馈的操作控制。在本文中,改进了音乐锯顶端的支撑方法,实现了手腕的高级运动。此外,我们还讨论了基于敲击声反馈控制的灵巧操作,同时考虑了协作人形机器人和音乐锯之间的位置和姿态。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Advanced Musical Saw Manipulation by an Industrial Cooperative Humanoid Robot with Passive Sound Feedback
In recent years, collaborative robots able to work together with humans have become widespread in production sites and factory automation fields. In this context, the goal is to provide a production site where cooperative robots can share various types of tools with humans. However, we have not yet reached the point where collaborative robots and humans can share tools for advanced skills. Therefore, it is very important to investigate how a collaborative robot can control advanced tools requiring human skills and the processes for realizing such control. Musical instruments are some of the most difficult tools to handle. It is important to focus on musical instruments because they allow us to evaluate the robot’s manipulation not only by evaluating its movements, but also by evaluating the resultant sound. In this study, we consider a flexible and large deformable musical saw as an unknown and advanced tool difficult for humans to manipulate. In a previous report, a support method for imitating a human was adopted and provided manipulation control based on striking sound feedback using a cooperative humanoid robot. In the present paper, the support method is improved at the tip of the musical saw to realize an advanced wrist motion. In addition, we discuss skillful manipulations based on striking sound feedback control while considering the positions and postures between the collaborative humanoid robot and musical saw.
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