Humans are very effective at interpreting subtle properties of the partner's movement and use this skill to promote smooth interactions. Therefore, robotic platforms that support human partners in daily activities should acquire similar abilities. In this work we focused on the features of human motor actions that communicate insights on the weight of an object and the carefulness required in its manipulation. Our final goal is to enable a robot to autonomously infer the degree of care required in object handling and to discriminate whether the item is light or heavy, just by observing a human manipulation. This preliminary study represents a promising step towards the implementation of those abilities on a robot observing the scene with its camera. Indeed, we succeeded in demonstrating that it is possible to reliably deduct if the human operator is careful when handling an object, through machine learning algorithms relying on the stream of visual acquisition from either a robot camera or from a motion capture system. On the other hand, we observed that the same approach is inadequate to discriminate between light and heavy objects.
翻译:人类在解释伴侣运动的微妙特性方面非常有效,并运用这种技能促进顺利互动。 因此, 支持人类伙伴日常活动的机器人平台应该获得类似的能力。 在这项工作中,我们侧重于人类运动动作的特征,这些特征能传达对物体重量的洞察力和操作所需的谨慎性。 我们的最终目标是使机器人能够自主地推断物体处理所需的谨慎程度,并仅仅通过观察人类操作来区分物品是轻是重是轻。 这份初步研究代表着在机器人用相机观察现场时实施这些能力的有希望的一步。 事实上,我们成功地证明,如果人类操作者在处理物体时小心谨慎,通过机器算法,依靠机器人相机或运动捕捉系统的视觉获取流,可以可靠地扣除这些能力。 另一方面,我们发现,同一方法不足以区分光和重物体。