A portable radio device with ad hoc wireless networking function is realized as a platform of various physical and informational support systems based on“Lifelog Contents”that is the records of experiences in the daily life. Lifelog should be created by collecting various information through a wireless network without putting a strain on human and environment. By attaching sensors and actuators to our radio device, they can participate in the wireless network and effectively communicate with each other. We adopted Bluetooth as wireless communication technology that has such good features as low power consumption, sufficient data throughput, high resistance to noise and so on. Since our device has flexible multihop networking functions, it can construct a large scale network. We realized a prototype of Lifelog based electric appliances operational support system with our devices. Utilization of Lifelog reduces the burden for controlling a huge amount of convoluted electric appliances by constructing the probabilistic model of user's operational behavior and predicting user's successive operations. The system gives prediction results to the user and executes operations via the wireless network. Experimental results prove that the operational system is useful and developed device is sufficient performance for Lifelog based support systems.
This paper shows that a minimum d.o.f. robotic hand with two fingers is able to achieve the secure grasping of an object according to the local minimum of elastic potential energy (LMEE) . First, we derive an elastic force and an elastic potential energy equations due to deformation of soft fingers, which can be calculated into straightforward equations in an analytical way. These formulae lead to the fact that the potential energy of a soft fingertip is a function of two variables, and has a local minimum through the elastic rolling of a contacting object. Second, we formulate four geometric constraints in the grasping motion of a rigid object by means of two degrees of freedom robotic hand that has two rotational joints. Third, we define a basic motion that includes a translational and a rolling motions when two fingers rotate by infinitesimal angle, and propose a quasi-static manipulation and its algorithm by using the LMEE of soft fingers with the geometric constraints. In this theory, we define an energy function that includes the LMEE algorithm. By solving that function we simulate the path of the center of gravity and the change of orientation of the grasped object, and compare those values with measurements actually obtained from a CCD camera equipped above the manipulated object. Finally, we confirm the effectiveness of the quasi-static manipulation theory based on the LMEE algorithm from experiments.
This paper concerns three topics for realizing embodied“proactive”human interface, where a humanoid is used as an interface capable of making some reaction against to user's gesture input in advance to the termination of the gesture. The first topic is early recognition of gestures: the recognition result of a gesture is provided at the beginning part of the gesture. The second topic is motion prediction: the subsequent posture of the person who makes a gesture is predicted by using the result of early recognition. The third topic is a network model constructed for improving the performance of early recognition and motion prediction. The effectiveness of these methods was shown by experimental results.
When we talk about objects in the environment, we indicate to an observer which object is currently under consideration using pointing gesture and the reference terms such as“this”and“that”. These behaviors play an important role in a natural interaction between us. It is because reference terms and pointing gesture can quickly inform the observer of an indicated object location. In this research we propose the 3-layered draw-attention model for communication robots with pointing gesture and verbal cues. The 3-layered model we propose consists of 3 sub-models, Reference Term Model (RTM), Limit Distance Model (LDM) and Object Property Model (OPM) . RTM is the model that decide the appropriate reference term using functions that is constructed by an analysis of human behavior. LDM is the model that decide whether or not the model use the object property with reference term. OPM is the model to decide the appropriate property of the indicated object comparing object properties each other. The 3-layered model was implemented as attention drawing system in the communication robot named, Robovie, and was confirmed its effectiveness.
This paper discusses the design and the basic characteristic of the mobile robot PMR-1 with the preliminaryannouncement and display function of the forthcoming operation (the direction of motion and the speed of motion) to the people around the robot by drawing a scheduled course on a running surface using light-ray. The laser pointer is used as a light source and the light from the laser pointer is reflected in a mirror. The light-ray is projected on a running surface and a scheduled course is drawn by rotating the reflector around the pan and the tilt axes. The preliminary-announcement and display unit of the developed mobile robot can indicate the operation until 3-second-later preliminarily, so the robot moves drawing the scheduled course from the present to 3-second-later. The experiment on coordination between the preliminary-announcement and the movement has been carried out, and we confirmed the correspondence of the announced course with the robot trajectory both in the case that the movement path is given beforehand and in the case that the robot is operated with manual input from a joystick in real-time. So we have validated the coordination algorithm between the preliminary-announcement and the real movement.