人–机器人技能传递研究进展

Research Progress on Human-robot Skill Transfer

人–机器人技能传递(Human-robot skill transfer, HRST)是指人将操作技能传授给机械臂使得机器人具备类人化的作业能力,以达到高效示教编程的目的.相对于传统的机器人编程技术,人机技能传递具有高效率、低成本、不依赖机器本体平台等显著优点,是人–信息–机器人融合系统(Human-cyber-robot-systems, HCRS)中重要环节之一,应当给予足够的重视.本文首先介绍了人机技能传递技术的研究背景,接着简述了该技术在人机接口、建模、仿生自适应控制等方面的发展现状,并对未来的研究方向做出了展望.

Human-robot skill transfer (HRST) is a general method to transfer human's skills to robots in order that robots can perform tasks in a human-like way. With this method, robots can be programmed efficiently. Comparing with conventional program methods, HRST has a number of significant advantages such as high efficiency, low cost and independent of robotic platforms. It is one of the most important parts in human-cyber-robotic systems (HCRS), which should be paid much attention to. In this paper, we firstly introduce the background of HRST, then introduce human robot interface, modelling and control domain. Finally we show some potential research lines in future.