動作キネマティクスから物体特性へ：人間の丁寧さのオンライン認識
From Movement Kinematics to Object Properties: Online Recognition of Human Carefulness
人間が物体を運ぶ際の動作から、その物体を丁寧に扱う必要があるかをロボットが視覚のみでオンライン推定できることを示した研究。低解像度カメラでも最大81.3%の精度を達成した。
著者: Linda Lastrico, Alessandro Carfì, Francesco Rea, Alessandra Sciutti, Fulvio Mastrogiovanni
分類: cs.RO, cs.AI
原文アブストラクト
When manipulating objects, humans finely adapt their motions to the characteristics of what they are handling. Thus, an attentive observer can foresee hidden properties of the manipulated object, such as its weight, temperature, and even whether it requires special care in manipulation. This study is a step towards endowing a humanoid robot with this last capability. Specifically, we study how a robot can infer online, from vision alone, whether or not the human partner is careful when moving an object. We demonstrated that a humanoid robot could perform this inference with high accuracy (up to 81.3%) even with a low-resolution camera. Only for short movements without obstacles, carefulness recognition was insufficient. The prompt recognition of movement carefulness from observing the partner's action will allow robots to adapt their actions on the object to show the same degree of care as their human partners.
