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Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI最新文献

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Humanoid robot-development of an information assistant robot Hadaly 仿人机器人——信息助理机器人的研制
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-12-01 DOI: 10.1109/ROMAN.1997.646961
Shuji Hashimoto, S. Narita, Hironori Kasahara, A. Takanishi, Shigeki Sugano, Katsuhiko Shirai, Tetsunori Kobayashi, Hideaki Takanobu, T. Kurata, K. Fujiwara, T. Matsuno, T. Kawasaki, K. Hoashi
{"title":"Humanoid robot-development of an information assistant robot Hadaly","authors":"Shuji Hashimoto, S. Narita, Hironori Kasahara, A. Takanishi, Shigeki Sugano, Katsuhiko Shirai, Tetsunori Kobayashi, Hideaki Takanobu, T. Kurata, K. Fujiwara, T. Matsuno, T. Kawasaki, K. Hoashi","doi":"10.1109/ROMAN.1997.646961","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646961","url":null,"abstract":"This paper describes a humanoid robot \"Hadaly\" that was developed as a basic model for the final version of Humanoid. In this study, the authors feature an attempt to find the configurations and functions that are required for a humanoid. Hadaly consists of four systems; an audio-visual system, a head system, a speech system and an arm system. The configurations and functions required for a humanoid robot are clarified based on the results of the information assistance experiment with Hadaly.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114702192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 36
Emotional behavior adjustment system in robots 机器人情绪行为调节系统
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-12-01 DOI: 10.1109/ROMAN.1997.647010
T. Ogata, S. Sugano
{"title":"Emotional behavior adjustment system in robots","authors":"T. Ogata, S. Sugano","doi":"10.1109/ROMAN.1997.647010","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647010","url":null,"abstract":"To cope with dynamically changing environments, creatures have not only \"motor nervous system\" but \"autonomic nervous system\" as an internal adjustment mechanism. However conventional robots have been equipped with only the motor nervous system. We developed an autonomous mobile robot implemented a internal adjustment model based on self-preservation. This model involves the original system called the \"behavior adjustment system\", which influences the whole condition of the robot. This paper describes the methodology for application of the behavior adjustment system to robots. We confirmed the feasibility of the proposed system for the mobile robot in two practical experiments; an obstacle avoidance problem and effect of the battery voltage.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116418526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
The planning of violin playing robot with KANSEI information-algorithm to decide bowing parameters from timbre 利用感性信息算法从音色中确定弓形参数的小提琴演奏机器人规划
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-12-01 DOI: 10.1109/ROMAN.1997.646987
K. Shibuya, Y. Chikaoka, T. Koyama, S. Sugano
{"title":"The planning of violin playing robot with KANSEI information-algorithm to decide bowing parameters from timbre","authors":"K. Shibuya, Y. Chikaoka, T. Koyama, S. Sugano","doi":"10.1109/ROMAN.1997.646987","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646987","url":null,"abstract":"The goal of this paper is to design an algorithm to decide the bowing parameters using KANSEI (sensibility) in order to plan the motion of an anthropomorphic violin playing robot. Sensuous tests were performed to clarify the relationship between bowing parameters and timbres of a violin, which are example of KANSEI information, and harmonic tone patterns of violin sounds. From the results of sensuous test, the algorithm to decide bowing parameters from timbre terms were designed.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127509177","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
A model of fuzzy emotion and behaviour selection for an autonomous mobile robot 自主移动机器人的模糊情感和行为选择模型
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647007
K. Ho
{"title":"A model of fuzzy emotion and behaviour selection for an autonomous mobile robot","authors":"K. Ho","doi":"10.1109/ROMAN.1997.647007","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647007","url":null,"abstract":"This paper proposes a fuzzy model of emotion and behaviours selection for an autonomous mobile robot. Conventional behaviour-based robots can only exhibit a single behaviour or action after sensing an external event. In order to make a robot to adapt to its environment and to exhibit more complex behaviours, we try to model animal emotions and behaviours by a set of Fril's support logic fuzzy rules. This set of fuzzy rules will allow the robot to control and to select different behaviours depending on the environment and its experience. An summary of the calculus of support logic is given in this paper.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115539895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Cooperative performance system based on agents 基于agent的协同绩效体系
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647029
Jun'ichi Kawabata, N. Saiwaki, S. Nishida
{"title":"Cooperative performance system based on agents","authors":"Jun'ichi Kawabata, N. Saiwaki, S. Nishida","doi":"10.1109/ROMAN.1997.647029","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647029","url":null,"abstract":"This paper describes a cooperative performance system based on agents. To realize more intimate cooperation, it is necessary for the system to consider the feelings of a user which reflect his personal taste and mental state. We propose a model of cooperation of the agents considering those feelings. In this model, emotional factors of agents are expressed by \"mental potential\", which is estimated based on the relation between agent's behavior and the situation. The prototype system of creating a musical ensemble was developed for evaluation and it was confirmed that users were adequately satisfied with playing together with agents.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128471583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Master-slave quadruped walking robot 主从式四足行走机器人
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646972
S. Aoshima, F. Sato, M. Shiraishi
{"title":"Master-slave quadruped walking robot","authors":"S. Aoshima, F. Sato, M. Shiraishi","doi":"10.1109/ROMAN.1997.646972","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646972","url":null,"abstract":"The real time recognition of the environment and the decision of the control signal to each actuator are very important for control of a walking robot on rough terrain. Techniques are not perfect at present. So, we propose master-slave quadruped walking robots using radio control devices, which can use efficiently the recognition and control function of a human. In the paper, we describe experiments for walking using a prototype of a master-slave quadruped walking robot. This robot can walk forward and backward on even terrain, and can get over low steps. The experimental results show the validity of the proposed master-slave quadruped walking robot.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126791006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Active intelligent monitoring for telerobotic tasks-tracking a handled object 远程机器人任务的主动智能监控——跟踪被处理的对象
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646974
T. Hori, S. Hirai, Y. Wakita, R. Takada, M. Kakikura
{"title":"Active intelligent monitoring for telerobotic tasks-tracking a handled object","authors":"T. Hori, S. Hirai, Y. Wakita, R. Takada, M. Kakikura","doi":"10.1109/ROMAN.1997.646974","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646974","url":null,"abstract":"This paper proposes a concept of \"active intelligent monitoring\" which supports human operators in, telerobotic tasks and shows a prototype which can actively track a moving object. The concept of \"intelligent monitoring\" has already been reported and realized for telerobotic tasks; however, the realized system, was task-specific and passive. If the information on the remote environment is not presented to the operator appropriately during teleoperation, he/she may not be able to conduct the desired tasks. The authors believe a more flexible monitoring approach should be introduced to make telerobotic systems available in various environments where many obstacles exist and occlusion sometimes occurs. This monitoring capability will be event-driven and active so we call it \"active intelligent monitoring\". As a first step in constructing an active intelligent monitoring system, we implement the function of keeping a trade off between a handled and/or moving object. Hardware implementation of the constructed system and experimental results are presented in this paper.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"494 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124248509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
A human interface for an intelligent mobile robot 智能移动机器人的人机界面
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646981
V. Graefe, R. Bischoff
{"title":"A human interface for an intelligent mobile robot","authors":"V. Graefe, R. Bischoff","doi":"10.1109/ROMAN.1997.646981","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646981","url":null,"abstract":"We propose that using the robot control based on situation assessment may lead to the realization of a truly user-friendly human-robot interface. Two aspects of user friendliness are addressed: ease of introducing domain-specific knowledge into the robot's memory in preparation of its actual operation, and ease of giving orders to the robot. Two abilities of the robot that result from the situation-oriented approach are key to this user friendliness: its ability to acquire knowledge regarding the environment largely by learning, instead of depending on explicit inputs by an operator; and its ability to communicate with the operator on a common basis of the situation being perceived by both. These abilities, together with a specific structure of the robot's internal knowledge representation, allow the operator to communicate with the robot in a similar way as he/she would with a human whom he/she requests, for instance, to do an errand.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"19 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120924230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 18
Experimental study of human intelligence incorporation in high precision tracking task by iterative learning control 迭代学习控制在高精度跟踪任务中融入人类智能的实验研究
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646982
M. Arif, H. Inooka
{"title":"Experimental study of human intelligence incorporation in high precision tracking task by iterative learning control","authors":"M. Arif, H. Inooka","doi":"10.1109/ROMAN.1997.646982","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646982","url":null,"abstract":"In this paper the ability of human operator in iterative learning control is investigated. Experiments are designed to provide the best perception of data to the human operator. The experiments showed the ability of human operator to perform the tracking tasks with high precision. Fast convergence of the human control input to the desired control input was observed. Furthermore, the control strategy by human operator is analyzed in this paper.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125485527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robust position, motion-inducing force, and internal force control for multi-robot system 多机器人系统的鲁棒位置、运动诱导力和内力控制
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646957
C. Kim, S. Park, Chongkug Park
{"title":"Robust position, motion-inducing force, and internal force control for multi-robot system","authors":"C. Kim, S. Park, Chongkug Park","doi":"10.1109/ROMAN.1997.646957","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646957","url":null,"abstract":"The forces exerted on an object by the each end-effector of multimanipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force contributes to the motion of an object and internal force can not do it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper, using the resolved acceleration control method and the fact that internal force lies in the null space of Jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131991626","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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