Abstract
Robots that interact with humans are required to achieve multiple simultaneous tasks such as carrying objects, collision avoidance and conversation with human, in real time. This paper presents a design framework of the control and the recognition processes to meet the requirement by considering stochastic behavior of humans. The proposed designing method first introduces petri-net. The petri-net formulation is converted to Markov decision processes and dealt with in optimal control framework. Two tasks of safety confirmation and conversation tasks are implemented. Tasks that normally tend to be designed by integrating many if-then rules can be dealt with in a systematic manner in the proposed framework. The proposed method was verified by simulations and experiments using RI-MAN.
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Kobayashi, Y., Onishi, M., Hosoe, S., Luo, Z. (2009). Behavior Design of a Human-Interactive Robot through Parallel Tasks Optimization. In: Asama, H., Kurokawa, H., Ota, J., Sekiyama, K. (eds) Distributed Autonomous Robotic Systems 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00644-9_50
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DOI: https://doi.org/10.1007/978-3-642-00644-9_50
Publisher Name: Springer, Berlin, Heidelberg
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