Human-robot communication by physical interaction-distributed agent control system and the learning algorithm

Author

Ogata, Tetsuya ; Komiya, Takaaki ; Sugano, Shigeki

Author_Institution

Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan

Volume

2

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

1005

Abstract

This study aims to clarify the cooperation intelligence of robots with an emotion model referring to the human biological system. This paper describes the functions of the arm system of the behavior-based robot, Wamoeba-2, which has an emotion model and can communicate with humans. The specifications of the arm system were designed based on the consideration of the human robot physical interaction. Each joint of the arm is equipped with a torque sensor, and the arm is controlled by a distributed agent network system. The network architecture is acquired in a neural network by the feedback-error-learning algorithm. In the experiment, human beings can play with the arm system by physical interaction

Keywords

cooperative systems; feedback; learning systems; manipulators; mobile robots; neural net architecture; Wamoeba-2; arm joint; behavior-based robot; cooperation intelligence; distributed agent control system; distributed agent network system; emotion model; feedback-error-learning algorithm; human biological system; human-robot communication; neural network architecture; physical interaction; torque sensor; Biological system modeling; Biological systems; Control systems; Distributed control; Human robot interaction; Intelligent robots; Neural networks; Robot sensing systems; Sensor systems; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.825400

Filename

825400