文脈認識に基づく人間支援ロボットシステムの設計
Design of a Human-Assistance Robot System with Contextual Action Recognition
人間の活動を文脈に応じて認識し、行動ツリーで動的な支援行動を定義するロボットシステムの設計を提案した論文。
著者: Amanuel Ergogo, Teresa Zielińska
分類: cs.RO
原文アブストラクト
This paper presents a conceptual design for a proactive human assisting robot system capable of recognizing human activities and responding proactively. The system leverages contextual human activity recognition to interpret human actions across diverse contexts, while behavior trees are utilized to define dynamic and interpretable robot behaviors. We outline the system architecture, incorporating contextual human action recognition (HAR), behavior trees (BTs), and ROS, using the Spot robot platform as a representative example. We explain how HAR enables the robot to provide proactive assistance, discuss its limitations, and introduce methodologies for contextual HAR to address these limitations, thereby enhancing the robot's decision-making in complex human activity scenarios.