Human behavior recognition for cooking support robot

Fukuda, Tsukasa; Nakauchi, Yasushi; Noguchi, Katsunori; Matsubara, Takashi

doi:10.1109/roman.2004.1374787

Cited by 10 publications

(4 citation statements)

References 7 publications

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“…Different techniques are proposed for this purpose, including vision system [26] and PIR sensors with camera [85] etc. For sensing danger, a knowledge of human activities and behavior is also very important [86,87]. We suggest that reliability of safety critical sensors must be enhanced through diversity and redundancy.…”

Section: Future Research Directionsmentioning

confidence: 99%

Safe physical human robot interaction-past, present and future

2008

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When a robot physically interacts with a human user, the requirements should be drastically changed. The most important requirement is the safety of the human user in the sense that robot should not harm the human in any situation. During the last few years, research has been focused on various aspects of safe physical human robot interaction. This paper provides a review of the work on safe physical interaction of robotic systems sharing their workspace with human users (especially elderly people). Three distinct areas of research are identified: interaction safety assessment, interaction safety through design, and interaction safety through planning and control. The paper then highlights the current challenges and available technologies and points out future research directions for realization of a safe and dependable robotic system for human users.

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Section: Future Research Directionsmentioning

confidence: 99%

Safe physical human robot interaction-past, present and future

2008

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“…They were used to provide recipe information on the moment, or to store recipes on site. As an application to robotics, Nakauchi * E-mail: {watanabe, nagahama, k-okada, inaba}@jsk.t.u-tokyo.ac.jp † E-mail: yamazaki@shinshu-u.ac.jp et al [6] introduced a robot that instructed a user about recipes by presuming his cooking behavior.…”

Section: Introductionmentioning

confidence: 99%

Cooking Behavior with Handling General Cooking Tools based on a System Integration for a Life-sized Humanoid Robot

Watanabe

Nagahama

Yamazaki

et al. 2013

Paladyn, Journal of Behavioral Robotics

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This paper describes a system integration for a life-sized robot working at a kitchen. On cooking tasks, there should be various tools and foods, and cooking table may have reflective surface with blots and scratch. Recognition functions should be robust to noises derived from them. As other problems, cooking behaviors impose motion sequences by using whole body of the robot. For instance, while cutting a vegetable, the robot has to hold one hand against the vegetable even if another hand with a knife should be moved for the cutting. This motion requires to consider full articulation of the robot simultaneously. That is, we have difficulties against both recognition and motion generation. In this paper we propose recognition functions that are to detect kitchen tools such as containers and cutting boards. These functions are improved to overcome the influence of reflective surface, and combination shape model with task knowledge is also proposed. On the other hand, we pointed out the importance of the use of torso joints while dual arm manipulation. Our approach enables the robot to keep manipulability of both arms and viewing field of a head. Based on these products, we also introduce an integrated system incorporating recognition modules and motion generation modules. The effectiveness of the system was proven through some cooking applications.

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“…Cooking supporting or cooperating systems have been also explored. Fukuda et al 22 developed a cooking support robot, which suggested by voice and gesture what the human should do next. Gravot et al 23 proposed a humanoid robot to cooperate with the user for cooking simple dishes.…”

Section: Introductionmentioning

confidence: 99%

A Chinese cooking robot for elderly and disabled people

Wang

et al. 2011

Robotica

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Cooking themselves is very important and difficult for elderly and disabled people in daily life. This paper presents a cooking robot for those people who are confined to wheelchairs. The robot can automatically load ingredients, cook Chinese dishes, take cooked foods out, deliver dishes to the table, self-clean, collect used ingredient box components, and so on. Its structure and interface is designed based on the barrier-free design principles. Elderly and disabled people can only click one button in the friendly Graphic User Interface of a Personal Digital Assistant (PDA) to launch the cooking processes, and several classic Chinese dishes would be placed in front of them one after another within few minutes. Experiments show that the robot can meet their special needs, and the involved aid activities are easy and effective for elderly and disabled people.

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Human behavior recognition for cooking support robot

Cited by 10 publications

References 7 publications

Safe physical human robot interaction-past, present and future

Safe physical human robot interaction-past, present and future

Cooking Behavior with Handling General Cooking Tools based on a System Integration for a Life-sized Humanoid Robot

A Chinese cooking robot for elderly and disabled people

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