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首页> 外文会议>Conference on sensor fusion and decentralized control in robotic system >Robotic Comfort Zones
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Robotic Comfort Zones

机译：机器人舒适区

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摘要

This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain. Focus is placed on the identification of the salient features in the environment that affect the comfort level. Factors involved include current state familiarity, working conditions, the amount and location of available resources, etc. As part of our newly developed comfort function function theory, the notion of an object as a psychological attachment for a robot is also introduced, as espoused in Bowlby's theory of attachment. The output space of the comfort function and its dependency on the comfort level are analyzed. The results of the derivation of this comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function in the domain of robotics is presented with relevance for real-world operations. Also, a transformation of the theoretical discussion into a mathematical frametwork suitable for implementation within a behavior-based control system is presented. The paper concludes with results of simulation studies and real robot experiments using the derived comfort function.
机译：本文研究了舒适性的心理概念如何在机器人系统的设计中有用。综述了现有的人类舒适性研究，特别是关于其在婴儿中的存在，其目的是确定将其映射到机器人领域的相关特征。重点放在确定影响舒适度的环境中的显着特征。涉及的因素包括当前状态的熟悉程度，工作条件，可用资源的数量和位置等。作为我们新开发的舒适函数函数理论的一部分，还引入了对象的概念，将其作为机器人的心理附件，例如鲍比的依恋理论。分析了舒适度函数的输出空间及其对舒适度的依赖性。然后，根据舒适度函数对机器人行为的影响，给出其推导结果。提出了在机器人技术领域使用舒适功能的合理性与现实操作的相关性。此外，还提出了将理论讨论转换为适用于基于行为的控制系统中实现的数学框架的方法。本文总结了使用派生的舒适度函数进行的仿真研究和实际机器人实验的结果。

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