Abstract
This paper discusses the Multi-Layer Situation Map to estimate the relationship between the objects and the storage places for robot interaction. An interaction robot is required the many rules to take suitable action. But, It is difficult to provide rules based on all situations. Now, we focus on a cleanup service by a robot, and are developing an interaction robot which estimates the storage place where a robot should carry objects. In this system, an interaction robot has to know the relationship of the objects and the storage places in dynamically changing situation. Therefore, we propose the Multi-Layer Situation Map, and express the relationship between the object and the storage place. The multi-layer situation map can move each component using a spring model. To verify the effectivity of the multi-layer situation map, we have performed the simulation experiment. We discuss about the dynamically situation change when the same objects are exist on the table.
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Yokoi, S., Masuta, H., Oshima, T., Koyanagi, K., Motoyoshi, T. (2016). Multi-layer Situation Map Based on a Spring Model for Robot Interaction. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9835. Springer, Cham. https://doi.org/10.1007/978-3-319-43518-3_9
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DOI: https://doi.org/10.1007/978-3-319-43518-3_9
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