服務(wù)機(jī)器人多通道人機(jī)交互感知反饋工作機(jī)制及關(guān)鍵技術(shù).pdf

1、上海大學(xué)博士學(xué)位論文服務(wù)機(jī)器人多通道人機(jī)交互感知反饋工作機(jī)制及關(guān)鍵技術(shù)姓名：趙其杰申請(qǐng)學(xué)位級(jí)別：博士專業(yè)：機(jī)械制造及其自動(dòng)化指導(dǎo)教師：屠大維20050701上海大學(xué)博士學(xué)位論文AbstractW1ththeincreaseoftheelderlypopulationandthegrowinghealthcarecost，theroleofservicerobotinaidingthedisabledandelderlyisbecomin

2、gimportant，andmanyresearchersintheworldhavepaidmuchattentiontothehealthcarerobotandrehabilitationrobotTogetnaturalandharmoniouscommunicationbetweenuserandservicerobottheinformationperceptionandfeedbackabilityandinteracti

3、onabilityf、orservicerobotsbecomemoreimportantinmanykeyissues，butcurrentlythesecapabilitiesofservicerobotsareinpreliminarylevel，therefore，thereismuchworktobedonetoimprovetheperformanceofservicerobotsConsideringthecharacte

4、risticsofservicerobotstointeractwiththeelderlyanddisabled，wesystematicallyresearchedtheinformationperceptionandfeedbackmechanism，andmulti—modalityhumanrobotinteracfionapproaches，andthensetupamultimodalityandhumanrobotnat

5、uralinteractionsystemwhichhasmultipleinformationperceptionandfeedbackfunctionsInthedissertation，wefirstlyhadaresearchonsomenaturalresponsemodalitiessuchaseyegazeinput，speechrecognitionandsyntheses，andmechanicaltouchmodal

6、ityandpresentedthemainsubmodalitycollaborativeworkmodefortheseresponsemoralities，bythiscoilaborativemethod，theworkloadofsinglemodalityhasbeendecreased，andtheworkefficiencyandinteractionrobustforthesemodalitieshavebeenimp

7、rovedInordertoimprovetheadapt撕onofeyegazeinputmodalitytoenvironmentillumination，asetofimagecapturingequipmentandimagebinarythresholdmodelhavebeenputforward，andsomestrategiesandcontrolmethodshavebeenpresentedtodecreasethe

8、influencesonthesystemcausedbyusersheadmovement，bythesemeans，theadaptationofthesystemtoenvironmentilluminationanduseP3headmovementhavebeenimprovedTogetnaturalandharmoniousinteraction，akindofhuman—robotinteractionarchitect

9、urebasedonagenthasbeenproposed，andtheusermodelandinteractionprotocolinthisarchitecturehavebeenpresentedAccordingtotheformatoftheinteractionprotocol，aset&taskprocessmanagementmethodhasbeenputupinthe1ightoftasklifecycle，an

10、dthenatthesemanticdeeisionIevel。theframebasedinformationfusionapproacheshasbeenappliedtointegratetheinteractivesemanticsfromdifferentinteractionmodalitiesSomeworkonusertelepresenceinthe“Human—InterfaceMaehin《Robot)”archi

11、tecture，hasbeellcarriedout，andakindofinformationperceptionandfeedbackmethodbymultiplemodeshasbeenpresented，allthesehaveincreasedthenaturalnessforusertogetfeedbackinformationandinteractwithservicerobotsFinallyinthe“Human—

12、Interface—Machine(Robot)”syst咖fonnedbyservicerobotandusersomeexperimentsaboutinterfacehavebeendonewimthecognitivepsychologytestmethod，bythiswayakindofadaptiveinterfacecateringtotheelderlyanddisableduserspersonalcharacter