摘要
随着人类对未知领域(太空或深海等)的探索欲望增加以及某些高危工作的需求,用于人类不可到达和未知环境的远程机器人已得到广泛关注。为了使远程机器人准确安全地完成任务并且实现人类与远程机器人和谐交流的目标,在远程机器人的诸多关键技术中,人机交互、智能辅助和信息感知三方面尤为重要,成为确保远程机器人能否完成任务的先决条件。
本文提出的面向多自由度机器人的智能人机交互模型研究旨在从一个崭新的角度研究如何更自然,更直观有效地与多自由度机器人打交道,让人与机器人的交流犹如人与人交流一样自然流畅,并尽可能地缩短人机之间的交互距离,交互延时,扩大了人机之间的交互带宽。面向多自由度机器人的智能人机交互技术是通过将认知科学、计算机科学、机械科学、人工智能技术、生命科学等多种学科交叉结合起来,对人机交互中的交互行为、交互方式、机器辅助模型和人机协作模型等要素进行研究,充分发挥机器的智能性与自主性、人类的主导性和能动性,实现人机优势互补,互相协作的一门技术。本文的创新性成果包括：一是深入研究面向多自由度机器人交互的发展与趋势,根据面向多自由度机器人的交互特性分析与对比了各种人机交互方式在多自由度机器人交互过程中的优势与不足；二是提出了基于三维手势的面向多自由度机器人交互模型,相对其他交互方式,该模型能快速实时地对多自由度机器人进行高效率交互；三是深入研究了多智能体协作模型技术,对智能体的特征、智能体的推理规则和智能体的协作机制进行了详细的描述,提出了异态智能体的协作模型,可以有效地结合人类与机器人的各自优势,达到取长补短的效果；四是提出了多种智能辅助方法,针对多自由度机器人的特点,从多自由度机器人的路径规划方面,安全保障方面、操作辅助方面进行了深入的研究,提出了多种智能辅助模型,确保多自由度机器人在非机构化环境中具有一定的自主性,既能确保自身的安全,又能辅助用户完成高难度作业。五是详细地分析了人与机器在感知方面的特点,比较了人与机器在感知方面各自的优缺点,从而建立了分工与合作模型,划分了不同的感知任务,分工明确,互相协作；六是提出了面向多自由度机器人的智能人机交互模型,对智能人机交互模型中的交互空间进行了深入的分析,在此基础上,提出了面向决策的分层模型,能有效地解决人类和多自由度机器人之间的协调问题。
本文作者在博士期间先后参加了多个国家863予项目,并在这些项目中在研究面向机器人的自然人机交互技术以及面向机器人的智能辅助技术方面做了大量的工作,取得了很多重要的成果,包括发表了多篇国际学术论文和申请了多个国家发明专利。本文作者在参与项目的研发和开发的基础上,基于项目的研究成果对面向多自由度机器人的智能人机交互模型进行了深入的研究,并结合实际情况应用于各项科研实体,验证了该模型的有效性。
An increase in demand for certain high-risk work with the human desire to explore uncharted territory, remote robot which used in humans can not be reached and an unknown environment (space or deep sea) has received extensive attention by many researchers. In order to make the remote robot can accurately and safely complete the task and the remote robot can harmoniously communicate with humans, in many of the key technologies of remote robot, human-computer interaction, intelligent assistance and information perception is particularly important, become a prerequisite to ensure that the remote robot able to complete the task.
This paper proposed a multi-degree of freedom robot intelligent human-computer interaction model aimed at from a new perspective to study how more natural, more intuitive and effective in dealing with multi-degree-of-freedom robot. Let the human and robot communication as natural and smooth as the communication between people. And shorten the distance of the interaction between man and machine, reduce the interaction delay, expand the bandwidth of the interaction between man and machine. Intelligent human-computer interaction techniques for multi-degree-of-freedom robot combine cognitive science, computer science, mechanical science, artificial intelligence technology, life sciences and other interdisciplinary interaction in the human-computer interaction, interactionmachine-assisted models and human-machine collaboration model elements, give full play to the machine intelligence and autonomy, human-led initiative to achieve human-computer complementary advantages, mutual collaboration of a technology. The innovative achievements of this paper include:1. First, in-depth study for the development of multi-degree-of-freedom robot interaction and trends, based on the analysis of the interactive features of the multi-degree-of-freedom robot and contrast the advantages and disadvantages of a variety of human-computer interaction in multi-degree-of-freedom robot interaction; is proposed based on3D gestures for multi-degree of freedom robot interaction model, relative to other interactions, the model can be quickly and in real-time for efficient interaction of multi-degree-of-freedom robot, depth study of multi-agent collaboration model, characteristics of the agent, the agent's inference rules and the agent coordination mechanism is described in detail, the different states of agent collaboration model, humans and robots can effectively combine their respective advantages, to achieve the effect of each other; Fourth, a variety of intelligent helper methods were proposed, including the characteristics of multi-degree-of-freedom robot, the multi-degree-of-freedom robot path planning, security, operating auxiliary conducted in-depth research, made a variety of intelligent auxiliary model, ensure freedom Manipulators non-institutional environment has a certain autonomy, both to ensure their own safety, but also to assist the user to complete a difficult job. Fifth, a detailed analysis of the characteristics of man and machine perception, comparison between man and machine in the perception of the respective advantages and disadvantages, so as to establish a division of labor and cooperation models, divided into different perceptual tasks, a clear division of labor, mutual collaboration; Sixth, this paper proposed for multi-degree-of-freedom robot intelligent human-computer interaction model, and conducted in-depth analysis of the interaction space intelligent human-computer interaction model, on this basis, a decision-oriented hierarchical model can effectively solve the problem of coordination between the human and multi-degree-of-freedom robot.
The author has participated in during Dr. countries and863sub-projects, and study the robot natural person-machine interactive technology and the robot intelligent assistive technology has done a lot of work in these projects, has made a number of important results, including the publication of the international academic and applied for a number of national invention patents. Author of this article on the basis of the R&D and development of participating in the project, project-based research on intelligent human-computer interaction model for multi-degree-of-freedom robot in-depth research, combined with the actual situation applied to various research entities to verify the the validity of the model.
引文
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