제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

On a Multi-Agent System for Assisting Human Intention

  • Tawaki, Hajime (Department of Mechanical and Control Engineering Kyushu Institute of Technology) ;
  • Tan, Joo Kooi (Department of Mechanical and Control Engineering Kyushu Institute of Technology) ;
  • Kim, Hyoung-Seop (Department of Mechanical and Control Engineering Kyushu Institute of Technology) ;
  • Ishikawa, Seiji (Department of Mechanical and Control Engineering Kyushu Institute of Technology)
  • Published : 2003.10.22
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a multi-agent system for assisting those who need help in taking objects around him/her. One may imagine this kind of situation when a person is lying in bed and wishes to take an object on a distant table that cannot be reached only by stretching his/her hand. The proposed multi-agent system is composed of three main independent agents; a vision agent, a robot agent, and a pass agent. Once a human expresses his/her intention by pointing to a particular object using his/her hand and a finger, these agents cooperatively bring the object to him/her. Natural communication between a human and the multi-agent system is realized in this way. Performance of the proposed system is demonstrated in an experiment, in which a human intends to take one of the four objects on the floor and the three agents successfully cooperate to find out the object and to bring it to the human.

Keywords