US 11,787,037 B2
Behavior estimation apparatus, behavior estimation method, and behavior estimation program
Sho Sakaino, Tsukuba (JP)
Assigned to University of Tsukuba, Ibaraki (JP)
Appl. No. 15/733,744
Filed by University of Tsukuba, Ibaraki (JP)
PCT Filed Mar. 20, 2019, PCT No. PCT/JP2019/011693
§ 371(c)(1), (2) Date Oct. 12, 2020,
PCT Pub. No. WO2019/202900, PCT Pub. Date Oct. 24, 2019.
Claims priority of application No. 2018-078057 (JP), filed on Apr. 15, 2018.
Prior Publication US 2021/0031358 A1, Feb. 4, 2021
Int. Cl. B25J 3/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 3/00 (2013.01) [B25J 9/1697 (2013.01); B25J 13/085 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A behavior estimation apparatus comprising:
a memory; and
a processor connected to the memory, the memory storing instructions to:
collect skill data obtained when a slave apparatus is remotely controlled via a master apparatus by using a bilateral system capable of operating the slave apparatus via the master apparatus through bidirectional remote control between the master apparatus and the slave apparatus; and
estimate command values for causing the slave apparatus to automatically behave, based on a plurality of the skill data collected and output response of the slave apparatus, wherein
the processor collects as the skill data output response of the master apparatus obtained when the slave apparatus is operated via the master apparatus in consideration of a control delay of action of the slave apparatus in response to operation of the master apparatus when the slave apparatus is operated by using the bilateral system,
the processor causes the slave apparatus to automatically behave, based on the command values estimated.