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Integrating Human Behavioral Model for Safe Intimate-distance Human Robot Collaboration
http://hdl.handle.net/10228/0002001236
http://hdl.handle.net/10228/00020012365aeb7566-6616-4672-863d-a68cd66555cb
| 名前 / ファイル | ライセンス | アクション |
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10444551.pdf (5.4 MB)
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| Item type | 共通アイテムタイプ(1) | |||||||||||||||||||
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| 公開日 | 2025-02-05 | |||||||||||||||||||
| タイトル | ||||||||||||||||||||
| タイトル | Integrating Human Behavioral Model for Safe Intimate-distance Human Robot Collaboration | |||||||||||||||||||
| 言語 | en | |||||||||||||||||||
| 著者 |
Nazmun Nahid,
× Nazmun Nahid,
× Iqbal Hassan,
× Xinyi, Min
× Ryoke, Naoya
× Md Atiqur Rahman Ahad,
× 井上, 創造
WEKO
27425
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| 著作権関連情報 | ||||||||||||||||||||
| 権利情報 | Copyright (c) 2024 Author | |||||||||||||||||||
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| 権利情報Resource | https://creativecommons.org/licenses/by/4.0/deed.ja | |||||||||||||||||||
| 権利情報 | This article is licensed under a Creative Commons Attribution 4.0 International License. https://creativecommons.org/licenses/by/4.0/deed.ja | |||||||||||||||||||
| 抄録 | ||||||||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||||||||
| 内容記述 | In this paper, we present a method for integrating a human behavior model into robot motion control to enable safer intimate distance Human Robot Collaboration (HRC). This approach establishes safety parameters based on personality and experience, and optimizes the system through observing human reactions. It integrates a behavior pattern-based emergency shutdown. In our experiment, we tried to validate our claim that incorporating a human behavior model into the robot control will increase the safety of the system in intimate distance conditions. Validation through a mixed-reality approach demonstrates the feasibility of the framework in a simulated environment, ensuring ethical considerations and safety. Notably, it outperforms traditional benchmarks, and other forecasting based approaches, achieving zero collisions in 100 trials and exhibiting a forecasting error rate below 10mm. Despite notable improvements, challenges persist, including residual time delays in safety compensations and potential slowdowns for introverted, inexperienced workers. While these limitations need further refinement, the proposed approach signifies a substantial stride towards safer HRC, successfully preventing collisions in intimate distance conditions. | |||||||||||||||||||
| 言語 | en | |||||||||||||||||||
| 備考 | ||||||||||||||||||||
| 内容記述タイプ | Other | |||||||||||||||||||
| 内容記述 | 6th International Conference on Activity and Behavior Computing, ABC2024, May 28-31, 2024, Nakatsu and Kitakyushu, Kyushu, Japan (Hybrid) | |||||||||||||||||||
| 書誌情報 |
en : International Journal of Activity and Behavior Computing 巻 2024, 号 2, p. 1-26, 発行日 2024-06-13 |
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| 出版社 | ||||||||||||||||||||
| 出版者 | 九州工業大学ケアXDXセンター | |||||||||||||||||||
| 言語 | ja | |||||||||||||||||||
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| 言語 | eng | |||||||||||||||||||
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| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||||||
| 資源タイプ | journal article | |||||||||||||||||||
| 出版タイプ | ||||||||||||||||||||
| 出版タイプ | VoR | |||||||||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||||
| DOI | ||||||||||||||||||||
| 識別子タイプ | DOI | |||||||||||||||||||
| 関連識別子 | https://doi.org/10.60401/ijabc.27 | |||||||||||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||||||||||
| 収録物識別子 | 2759-2871 | |||||||||||||||||||
| 会議記述 | ||||||||||||||||||||
| 会議名 | 6th International Conference on Activity and Behavior Computing, ABC2024 | |||||||||||||||||||
| 言語 | en | |||||||||||||||||||
| 回次 | 6 | |||||||||||||||||||
| 開始年 | 2024 | |||||||||||||||||||
| 開始月 | 05 | |||||||||||||||||||
| 開始日 | 28 | |||||||||||||||||||
| 終了年 | 2024 | |||||||||||||||||||
| 終了月 | 05 | |||||||||||||||||||
| 終了日 | 31 | |||||||||||||||||||
| 開催国 | JPN | |||||||||||||||||||
| 研究者情報 | ||||||||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/140_ja.html | |||||||||||||||||||
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| 値 | 10444551 | |||||||||||||||||||
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| 値 | 12743 | |||||||||||||||||||
