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佐藤 知正, 福井 類, 森下 広, 森 武俊
p.
101
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
The paper presents Environing Mobile Robot System. It realizes temporal cooperative control(Human Robot Symbiosis Control) for humans and robots at the same space. The system is composed of environing sensor, data analyzing and accumulating component, mobile cart robot, and real-time control component. There are two characteristics in the system in terms of spatial and temporal aspects. As for the spatial aspect, the system can measure robot and human position simultaneously by the same environing sensor. As for the temporal aspect, the accumulated human locomotion data is utilized for path planning of the mobile robot.
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森岡 一幸, 李 周浩, 橋本 秀紀
p.
102
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
An intelligent environment is the space where we can easily interact with computers and robots. And we can get useful service from them. In such an environment, location information is very important. In this paper, I will explain the method of how to get the location information and recognize the human using the vision sensors.
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李 周浩, 森岡 一幸, セメシ ペータ, 安藤 慶昭, 橋本 秀紀
p.
103
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, Simulator of Intelligent Space(SIS) is described. Since Intelligent Space is a spatial system, it should cover various environment with useful functions. However, it is difficult to develop all the required resources in limited experimental environment efficiently. SIS is developed to increase efficiency of development of Intelligent Space.
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安藤 慶昭, 李周 浩, 森岡 一幸, セメシ ペーター, 橋本 秀紀
p.
104
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
“Intelligent Space” is a distributed multi-sensored intelligent environment. In Intelligent Space, a lot of camera type DINDs (Distributed Intelligent Network Devices) are connected to network. To realize seamless observation space, which can measure the position of objects by using cameras in the space, each cameras have to know their geometric relation i.e. fundamental matrix (F-matrix). In this paper, we describe a multiple camera calibration and DIND observation space (DIND cells) for Intelligent Space.
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…サイクルタイムの変動要因…
太田 英和, 藤津 晴紀, 大道 武生
p.
105
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
The AGV system using IDC. The information medium called IDC is laid to the run on the street of AGV, and information required for a run of AGV is written by un-contacting. Thereby, AGV acquires run information, and judges and runs a surrounding situation in accordance with the mapping system which is supervising the state of a run way.
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牧野 直樹, 琴坂 信哉, 鈴木 剛, 川端 邦明, 淺間 一, 大滝 英征
p.
106
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We propose an information management system for supporting of the behavior of autonomous mobile robot. Intelligent floor system, is a local information management device, supplies the information of environment to an autonomous mobile robot. The intelligent floor is also available as a database that has robot trajectory data, information of local environment and ID information.
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倉林 大輔, 松岡 武里
p.
107
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we formulate efficiency of distributed robotic systems that adapt their environment autonomously. By analytical solutions and simulation results we illustrate feasibility of decision making systems for distributed autonomous systems.
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—インテリジェントマークとロボット間の相互通信の構築—
佐藤 弘康, 永谷 圭司, 五福 明夫
p.
108
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Grasping an object using a mobile robot is difficult by current sensor technology. To solve this problem, we propose the supporting robot system named IMS(Ingelligent Marks System). This system enables intercommunication between a robot and intelligent marks sticked on objects to obtain it’s data to grasp them.
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中西 英之, 石田 亨, 伊藤 英明, 福本 理人
p.
109
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Virtual city space FreeWalk simulates urban group behaviors including human users as well as agents. Interaction description language Q enables simulation designers to supply agents with a ‘scenario’ of social interaction. According to the scenario, Q process sends behavioral commands to FreeWalk agents. We developed FreeWalk and Q for virtual evacuation simulation including social interaction.
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小泉 智史, 戴 桂明, 石黒 浩
p.
110
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Town Digitizing is a new image-based modeling method that uses omnidirectional images taken in the environment. It provides a photo-realistic virtual space by smoothly interpolating the omnidirectional images. The first merit of this method is not to take much time in the modeling process. The second merit is to be able to apply complex objects such as trees. This paper reports a software system supporting Town Digitizing.
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杉山 聡, 赤埴 淳一, 佐藤 哲司
p.
111
発行日: 2002年
公開日: 2003/05/15
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フリー
This paper outlines our research on the core technologies for providing information adaptively in spoken dialogue depending on the user’s characteristics. To realize such dialogue systems, we have collected and analyzed how adaptively people advise routes in the pedestrian navigation task. We are also constructing a dialogue-based pedestrian navigation system, and analyzing user-adaptation experimental results with this system.
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石田 亨, 中西 英之, 村上 陽平, 河添 智幸, 菱山 玲子
p.
112
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We are preparing a 3D virtual space for the reproduction of the past real-world experiment that compared methods to lead evacuees. Toward this goal, we tried to reproduce the experiment in a 2D multi-agent simulator. The simulation result became more faithful after designing the behaviors of evacuee agents iteratively. This means that the simulator is effective to design social interaction.
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酒井 徹朗, 守屋 和幸, 阿部 光敏, 安川 直樹
p.
113
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Environmental education support system (EESS), which utilized the information technology, was constructed. One is EESS using the PDA in the field and other is EESS in the virtual space. The field system is composed of PDA, GPS and wireless LAN. Both systems were also almost able to satisfy the function evaluation in the demonstration experiment.
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松永 佐斗志, 加藤 一樹, 金子 真
p.
114
発行日: 2002年
公開日: 2003/05/15
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フリー
This paper discuss an approach for estimating the stiffness of object through a non-contact way. The key point is that we utilize a laser doppler vibrometer for obtaining an accurate vibration of object while an impulse force is imparted. We also show experimental result with FFT analysis.
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山本 晃生, 加藤 高志, 樋口 俊郎
p.
115
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper deals with a shape sensor using PVDF film. We have developed a shape sensor that measures curve along the longitudinal direction. The sensor is applied for computer user interface system that allows user to input curve shape in real time. Finally, sensor configuration is discussed to measure twist, as well as curve along the longitudinal direction, for curved surface measurement.
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Mitsuru Ishizuka, Sylvain Descamps, Helmut Prendinger, Santi Saeyor
p.
116
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Multimodal presentations using character agents are becoming feasible with recent multi-media technologies, and considered to be a new promising style of presentations. Since the presentations are performed by the lifelike character agents instead of human presenters, people can enjoy the presentations regardless of time and place through the network. In addition to these properties of “anytime” and “anyplace”, it becomes important to allow “anyone” to write attractive multimodal contents easily. To this end, some XML-based description languages have been developed in the world; our MPML (Multimodal Presentation Markup Language) is one of such languages. The latest version of MPML includes a function of supporting a content author to write emotional behaviour of the character agents, since emotion (together with personality) plays important role of enhancing the lifelikeness or believability of the agents, and thus making the presentations attractive and memorable. In this paper, we present MPML and its related tools with some illustrations.
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森島 繁生, 四倉 達夫
p.
117
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Speech-to-speech translation has been studied to realize natural human communication beyond language barriers. Toward further multi-modal natural communication, visual information such as face and lip movements will be necessary. In this paper, we introduce a multi-modal English-to-Japanese and Japanese-to-English translation system that also translates the speaker’s speech motion while synchronizing it to the translated speech.
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陳 彬, 目黒 光彦, 金子 正秀
p.
118
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
For the cognitive interface in user-agent interaction, it is possible to improve the flexibility of interaction if the attention function, which connects visual or acoustical sensors with cognition, was implemented. This paper proposes an approach to sense the location and the acoustic power of speaker, which will be combined with skin color feature in order to draw the attention of agent. In the attentive area, the agent detects user’s face and estimates its orientation so that it can share the user’s attention for the forthcoming communication.
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Kyoshi Mori, Mitsuru Ishizuka
p.
119
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Research carried out in authoring systems for embodied agent based presentations have traditionally been confined to scripted interactive presentations. In recent years, however, there has been a gradual shift to adopting a more dynamic approach that supports a higher degree of flexibility in user-agent interactivity, where the user is allowed to engage in more natural conversations with the agent. In this paper, we will describe a conversational module based on techniques used in chat-bots, that we have implemented as an extension to our previously developed agent authoring system.
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Naiwala P. Chandrasiri, Istvan Barakonyi, Takeshi Naemura, Mitsuru Ish ...
p.
120
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We present a system for Internet communication that enhances traditional text-based chatting with real-time recognition and synthesis of the chat parties’ facial expressions. It is composed of three main modules: a real-time facial expression analysis component, a 3D agent with facial expression synthesis and text-to-speech capabilities—a talking head, and a communication module. So far we have realized a prototype to find out attractive ways of communication on the Internet and are currently experimenting how to utilize this new type of modalities in chat communication.
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鈴木 健嗣, 橋本 周司
p.
121
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Our research aim is to build a harmonized human-machine environment where people and machines can interact with each other in a natural, seamless and intuitive manner. Along the sketched scenario, we have been developing a humanoid robot “iSHA” (interactive Systems for Humanoid Agent), which is designed to behave like and interact with humans. We implemented a double-layered robotic architecture that can differentiate two types of processing: physical and intelligent one. In this paper, we introduce the development of the humanoid robot and the evaluation.
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稲葉 昭夫, 田畑 克彦, 張 勤, 天野 久徳
p.
122
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
When a great scale disaster occurs, mobile robots are expected to support relief activities. These robots need ability to move on rubble and move in rubble in order to gather information related to victim and condition. However, there is no mobile robot which has enough ability. Also, we propose novel concept of a transformational mobile robot.
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北島 寛, 大須賀 公一
p.
123
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In rescue situation under an earthquake disaster, searching victims who were buried in the debris and rubble was so difficult. As a solution, we developed an articulated vehicle with multi-linked body and four sides crawler for inspection of narrow and winding space. The most important characteristic of this robot is that the operation can be continued even if it overturns or receives restraint in every direction.
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馬 書根, 佐々木 亮, 叶 長龍, 井上 康介
p.
124
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
A snake-like robot which has 3-degrees of freedom (DOF) in one unit can perform more efficient motions that are impossible for a snake. In this paper, we present a 3-DOF joint, the pitch and yaw motion of which are generated by the coupled drive of two motors to enlarge torque output. A 3-D snake-like robot composed of by the developed joints has more flexibility, such as it not only can perform the natural snake locomotion but also can achieve the unnatural motion.
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—瓦礫上歩行を模倣するシステムの構築—
徳田 献一, 田所 諭, 戸田 崇文, 糀 幸久, 昆陽 雅司
p.
125
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We propose a new robotic platform for rescue mission. The platform named “RoQ” is performing the proposal about new Robotic Platform. RoQ is the main portion of the hardware robot system which can be changed flexibly in software not about the rescue robot itself but about a system required for a rescue mission. This paper describes a slice of the platform from the standpoint of an imitation system.
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喜田 和夫, 前 泰志, 新井 健生, 井上 健司
p.
126
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
The paper describes a method of searching for sufferers by tele-operated limb-mechanism robots with infrared sensors and small cameras at the tops of the limbs. A robot probes the front space of the robot by the infrared sensor while the robot walks forward. First, we search for sufferers with infrared sensor by long range type searching. If the sufferers are detected, we locate sufferers with infrared sensor by short range type searching. The locomotion and search motion are implemented to the limb mechanism robot.
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松野 文俊, 鈴木 隆司, 山崎 達弘
p.
127
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by force, that the robot generates for walking, and consequently the robot stumbles and falls. We propose “leg-grope” as a method to detect the necessary reaction force for walking without stumbling and falling. We demonstrate the effectiveness of proposed method by experiments.
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杉山 久佳, 辻岡 哲夫, 村田 正
p.
128
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Behavior algorithm is investigated for multi-robot network system constructing and maintaining ad hoc network in disaster area. Communication paths among robots are difficult to be maintained in that area without behavior algorithm for link recovery. Sufferer finding system with that algorithm is proposed and accessibility of each robot to monitor station is examined by computer simulation.
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和田 一吉, 大西 諒, 黒住 亮太, 藤沢 正一郎, 山本 透
p.
129
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this study, we have developed support system for man who manipulate them using application of adaptive learning control. We performed online learning system using CMAC, a kind of neural network. This learning system which integrates a person and a machine is learned by using CMAC. This paper presents experiment results relating to semi-autonomous system.
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(第20報 小型移動ロボット用遠隔操縦·視覚情報取得用インテリジェントセンサの開発構想)
高士 智史, 栄野 隼一, 橋詰 匠, 瀧口 純一
p.
130
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper describes a forward-looking hemispheric vision for a remote-control mobile robot. The forward hemispheric image is valuable for remote control because it can take wide clear view with little aberration. The panoramic map, which is generated by integrating periodical panoramic image in accordance with the IMU(Inertial Measurement Unit) signal, is suitable for reconnaissance operation in the hazardous area.
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鄭 心知, 土屋 和雄, 椹木 哲夫, 大須賀 公一, 辻田 勝吉
p.
131
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This research project, as a part of Urban Earthquake Disaster Alleviation Project initiated by the MEXT, aims to extend the existing robotics and human interface technologies and establish a novel human-machine interacting structure to enable effective use of semi-autonomous robots in place of humans for searching survivors from rubble under human instructions. Collaboration and coordination of the human and robot intelligence and skills is to be developed from both hardware and software viewpoints to make the results of this project contribute largely to the urban robot-assisted search and rescue activities.
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—RoboCupRescue災害シミュレーションの実世界応用の一例—
渥美 雅保
p.
132
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We propose a real-world/simulation data management system and its mobile operation terminal that are used for communicating disaster information in cooperation with the RobooCupRescue simulation system. This paper describes a G-XML based schema for representing real-world/simulation data, a data deployment and management framework based on a servlet service and a XML DB, a mobile communication interface, and an implementation that consists of a servlet on the server side and an i-appli application on the mobile side.
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坪井 康則, 佐藤 正雄, 渥美 雅保
p.
133
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
As examples of real world applications of RoboCupRescue simulation, two applications for civilians to navigate a disaster area are described. First one is a decision support system in which simulation results are used as prediction for taking refuge from fires. The second one is a training support system in which a user takes part in simulation and takes refuge from fires by making decisions on his/her way.
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畑山 満則, 井上 芳明, 石黒 周
p.
134
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we discuss the application of RoboCupRescue simulator as a tool of risk communication in local government. Firstly, we define the risk communication and then, on the basis of the questionary result about the simulator in the disaster drill in Suginami ward, Tokyo, we consider the function for risk communication to make the safety city.
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綿末 太郎, 小野里 雅彦
p.
135
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We propose a computer simulation method of developping 3D GAREKI(rubbles of buildings’ components) models by computing frame houses destruction. It consists of micro- and macro-scopic simulation. Micro-scopic simulations are fracture simulations of components (walls, beams, joints, etc.), with Extended Distinct Element Method. Macroscopic models represent collapsing buildings and forming 3D GAREKI models by physically based rigid body simulation.
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桑田 喜隆, 野田 五十樹, 篠田 孝祐, 太田 正幸, 伊藤 暢浩, 松野 文俊
p.
136
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We propose to apply Integrated Simulation Systems for risk-communication, in which local governments and citizens share information of risks. We showed two sets of effective scenarios in disaster risk-communication. Analysis of additional functionalities for RoboCupRescue simulation system, which is required to apply the system to proposed scenarios, are discussed.
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升谷 保博, 大須賀 公一, 栗栖 正充, 土井 智晴, 金田 忠裕, 鄭 心知, 杉本 博史, 東 輝明
p.
137
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This research and development is one of themes in the MEXT’s Special Project of Reduction of Earthquake Disaster in Large City beginning in 2002. The purpose is developing a dummy (human model) which can simulate a victim in order to evaluate rescue equipments including robots and rescue skill of human and robots. Many sensors and actuators should be implemented for quantitative and real-time evaluation and high reality. Conception and plan of this R&D are described.
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—知能ロボットが見いだす熱水地帯—
浦 環, 藤井 輝夫, 杉松 治美
p.
138
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Based on these accumulated technological data through the construction and operation of Autonomous Underwater Vehicles (AUVs), we will build an AUV “R2D4” with one-ton weight, which will be working for twelve hours in the depth of 3,500 meters for survey of the hydro-thermal regions in the Mariana Trough area. This robot will be equipped with highly intelligent system for establishment of deepsea underwater robotics, which will be expected to provide further data for artificial intelligence for oceans.
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小原 敬史, 中根 健志, 永橋 賢司, 浦 環
p.
139
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
A project of development of an Autonomous Underwater Vehicle R2D4, for survey of hydrothermal deposit, black smoker, etc. in deep water, has been started in 2001. The new vehicle will be launched in March, 2003. The vehicle is 4m long and 4tonf in weight, and can dive to 4,000m deep. This paper presents the outline of the vehicle’s configuration, payload and its navigation system.
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浅田 昭, 小山 寿史
p.
140
発行日: 2002年
公開日: 2003/05/15
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フリー
A seafloor survey AUV is under construction. It will be installed with new interferometry sonar and will be used to survey seafloor in detail around oceanic ridge and others. The interferometry sonar has some supreme features, such as making highly resolve bathymetry measurements by means of three hydrophones arranged at intervals of threefold and twelve fold wavelengths and having low power consumption.
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岡村 慶, 宗林 由樹, 蒲生 俊敬
p.
141
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
We present the first in situ flow-through chemical analyzer using a chemiluminescence (CL) method in the deep-sea to a depth of 5,200 m. The analyzer, called GAMOS (Geochemical Anomalies MOnitoring System), determines the concentration of dissolved manganese continuously using a H
2O
2-luminol CL method. The GAMOS was used successfully for hydrothermal plume observation.
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藤井 輝夫
p.
142
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In order to realize underwater in situ analysis systems at the genetic level, microsystems technologies are introduced to fabricate minaturized biochemical devices. Miniaturization of those devices provide a number of advantageous features accompanied by microscale reactions and analyses. We’ve been working on PDMS-based microfluidic devices for underwater applications, which is named ‘Microbiochemical Systems’. In this paper, we present examples of flow-through PCR devices which could be used for in situ gene amplification for advanced biological measurement in deep sea environments.
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近藤 逸人, 浦 環
p.
143
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
For detailed underwater observation, it is important that an underwater robot takes video images using TV cameras. This paper describes an observational method for underwater robot to take visual images while tracing the shape of the target object and keeping constant distance and attitude to the object. Experimental results of a testbed vehicle are shown in the paper.
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伊藤 讓, 浦 環, 藤井 輝夫, 近藤 逸人, 能勢 義昭, 上野 道雄, 浅川 賢一, 小島 淳一
p.
144
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Investigations of sunken ships or airplanes are very important for seeking causes of such kind of accidents and protecting ocean environment. This project aims to realize a compact deep-sea monitoring robot system that has both features of ROV and AUV. Key technologies are high speed acoustic video link, acoustic remote control and launcher dynamics.
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有光 博志, 向川 康博, 尺長 健
p.
145
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we discuss a method for acquiring photometric properties of ceramic arts. The point reflectance on the surface is represented by the bidirectional reflectance distribution function. Although the function defined in 4d space, we approximate it by a function defined in 2d space. Experimental results show that appropriate photometric properties of ceramics can be reproduced in the Virtual Photometric Environment[1].
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庭山 知之, 村上 智一, 中村 明生, 久野 義徳
p.
146
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper presents a system using computer vision to analyze traditional dances for digital archives. It integrates motion data obtained from a motion capture system and multiple video images. Furthermore, we can compose new dances by connecting elemental motions of dances.
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中岡 慎一郎, 中澤 篤志, 横井 一仁, 池内 克史
p.
147
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This paper describes the process to generate robot motions from human dance motions acquired by motion caputuring systems. We extract symbolic information which represents primitive motions and use them to generate joint angle trajectories of a robot. Generation process statisfies mechanical constraints and dynamic balance consistency. Generated motions were successfully performed on OpenHRP robot platform.
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森田 拓磨, 高松 淳, 小川原 光一, 木村 浩, 池内 克史
p.
148
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
Learning from Observation (LFO) has been widely applied in various types of robot system. It helps reduce the work of the programmer. But the available systems have application limited to rigid objects. Deformable objects are not considered. In this paper, we choose the knot tying as case study for operation on nonrigid bodies.
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園田 展人, 小川原 光一, 木村 浩, 池内 克史
p.
149
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
This study aims to map human grasp skills to a robot hand using “Learning from Observation”. The task domain, “motions of a Tea Ceremony”, is described by using “Kamakura’s Taxonomy” as grasp primitives, and realized by adding a multi-fingered hand with tactile sensors to our humanoid robot platform. As a result, everyday grasp skills are mapped to the robot.
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—レーザレンジファインダを用いた実装—
齋藤 裕昭, 足立 佳久, 松本 吉央, 小笠原 司
p.
150
発行日: 2002年
公開日: 2003/05/15
会議録・要旨集
フリー
In this paper, we propose memory-based navigation method for mobile robot using laser range finder. Robot memorizes data sequence of laser range finder scan in the recording run, matching with the current scan and calculating self-position in autonomous run. Finally, experimental results of the autonomous navigation presented to show the effectiveness of the proposal method.
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