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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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Handshake telephone system to communicate with voice and force 握手电话系统用声音和力量进行交流
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647031
Kazushige Ouch, Shuji Hashimoto
{"title":"Handshake telephone system to communicate with voice and force","authors":"Kazushige Ouch, Shuji Hashimoto","doi":"10.1109/ROMAN.1997.647031","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647031","url":null,"abstract":"In this paper, we propose the handshake telephone system using robot hands, through which users can shake hands to each other while talking on the telephone. Robot hand has one degree of freedom and is made of silicone rubber in order to get the natural feeling like human's hand. Four fingers are loosely joined together and the elbow joint can be freely rotated by the user's arm motion. A force sensor, which is composed of a rubber tube and an air pressure sensor, is attached at the lower part of the hand. The air pressure sensor measures the air pressure in the tube which changes according to the user's grasping power. The robot hands are connected through ordinary telephone line in parallel with the voice line. In our experiments with the bit-rate of 9600 bps, the transmission delay was around 45 ms which is acceptable for handshake communication. Additionally, we tried a self handshake mode to handshake with a virtual partner.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"226 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":"128990569","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: 25
A robot listener for fluent verbal communication 一个机器人倾听者流畅的口头交流
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647021
K. Yatsuka, K. Kawabata, H. Kobayashi
{"title":"A robot listener for fluent verbal communication","authors":"K. Yatsuka, K. Kawabata, H. Kobayashi","doi":"10.1109/ROMAN.1997.647021","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647021","url":null,"abstract":"Considers verbal communications between machines and human beings. Speakers may have high psychological stress if the all listeners are not human beings such as computers and so on, because human listeners assist the speaker by nodding and chiming in. Watanabe and Yuuki (1993) showed that such responses of listeners greatly assist fluent verbal communications. On the basis of this result, they proposed a computer listener system in which animation can do nodding and chiming in in place of human listeners. However, computer animations in imaginary two dimensional space may have an essential psychological defect compared with physical existing objects in three dimensional space. This paper tries to make clear this psychological difference quantitatively by several experiments. In the experiments, we adopt a doll as a listener, that has three degrees of freedom in its neck, and it can nod and chime in responding to the speakers words. We evaluate the speaker's psychological stress by heart rate, blood pressure and so on.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"130 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":"129243525","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
A teleoperation system with collision avoidance capability based on virtual radar 基于虚拟雷达的避碰遥操作系统
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646973
M. Takahashi, Y. Tsumaki, D.N. Nenchev, M. Uchiyama
{"title":"A teleoperation system with collision avoidance capability based on virtual radar","authors":"M. Takahashi, Y. Tsumaki, D.N. Nenchev, M. Uchiyama","doi":"10.1109/ROMAN.1997.646973","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646973","url":null,"abstract":"It is well known that during long-distance teleoperation, the operator's performance degrades due to the time delay. As a consequence, reliability and safety may deteriorate. To ameliorate the problem, operator support through a dedicated computer-based system has been envisioned. We propose a so-called virtual radar concept which we consider as a kind of shared intelligence. The virtual radar is used as a means for displaying collision information with regard to the whole manipulator. Possible link collisions, which are generally difficult for the operator to recognized, are detected by the computer and effectively mapped as an unreachable area around the end-effector. We use real-time computer graphics which are overlaid on the real image. Furthermore, the control system restricts automatically the master arm motion when the operator approaches the mapped collision area. We have verified the effectiveness of our approach by experiments with a real telerobot system.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"62 1-2 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":"130611939","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 study on static and dynamic path planning for autonomous vehicle 自动驾驶汽车静态与动态路径规划研究
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646947
J. Lim, E. Y. Shim, T. Takahashi
{"title":"A study on static and dynamic path planning for autonomous vehicle","authors":"J. Lim, E. Y. Shim, T. Takahashi","doi":"10.1109/ROMAN.1997.646947","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646947","url":null,"abstract":"The purpose of this research is to examine the applicability of real-time control for AVs and efficiency improvements by reducing calculation iterations. This paper describes a path-decision method of a mobile autonomous vehicle, AV, to search paths in an unknown environment by using a fixed obstacle information. Assuming multiple AVs are operated for their own tasks, there are chances of conflict resolution such as sharing the same path which could lead to the risk of a collision. This research represents some ways of negotiating the conflict resolution by generating the cooperative actions among AVs.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"37 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":"124701315","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
Real-world oriented distributed human-robot interface system 面向现实世界的分布式人机界面系统
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646980
Y. Iwakura, Y. Shiraishi, Y. Nakauchi, Y. Anzai
{"title":"Real-world oriented distributed human-robot interface system","authors":"Y. Iwakura, Y. Shiraishi, Y. Nakauchi, Y. Anzai","doi":"10.1109/ROMAN.1997.646980","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646980","url":null,"abstract":"In this paper, we propose the real-world oriented distributed human interface system named AIDA (Architecture for Interfacing Distributed Agents). AIDA supports human activities in the real-world (e.g., in offices or house) without restricting user's movements. AIDA is based on multi-agent model in which each interfacing elements (e.g., mobile robots, workstations) cooperates with each other for providing continuous support to a user. An agent is constructed by a set of behavior modules for providing reactive responses to a user. Also, with AIDA, the system can adapt to the uncertainty of user's position and user's attention that may change in time. We have developed a laboratory guiding system based on AIDA. We have confirmed the efficiency of AIDA by experiment.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"27 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":"134515334","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
Attention-based interaction between human and the robot Chiye 人与机器人之间基于注意力的互动
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646960
K. Nagashima, T. Yoshiike, A. Konno, M. Inaba, H. Inoue
{"title":"Attention-based interaction between human and the robot Chiye","authors":"K. Nagashima, T. Yoshiike, A. Konno, M. Inaba, H. Inoue","doi":"10.1109/ROMAN.1997.646960","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646960","url":null,"abstract":"In this paper, we discuss attention-based interaction between robot Chiye and human. The visual attention is conducted by the three asynchronous parallel processing units: (1) target detection block, (2) target management block and (3) target observation block. The robot Chiye interacts with human according to the status of gazed objects. Two kinds of attention-based robot's behaviors are examined: (a) orientation behavior toward a human, and (b) handing-over behavior.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"60 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":"134326471","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: 1
Tele-guidance system using 3D-CG and real-time tracking vision 远程制导系统使用3D-CG和实时跟踪视觉
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646976
M. Mitsuishi, Y. Chotoku, T. Nagao
{"title":"Tele-guidance system using 3D-CG and real-time tracking vision","authors":"M. Mitsuishi, Y. Chotoku, T. Nagao","doi":"10.1109/ROMAN.1997.646976","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646976","url":null,"abstract":"This paper describes the tele-guiding and information presentation system for an operator located at the remote place to show the location of the object which an instructor wants to point out. Three dimensional computer graphics (3D-CG) is being effectively used in the system while the object is not in the visual field of the operator. Real-time tracking vision is used to point out the object while it is in the operator's visual field. New type of a joystick was developed to control the 3D-CG, considering the characteristics of the human mobile action. The features of the system and some experimental results are presented.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"52 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":"132282225","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
A step towards universal facial animation via volume morphing 通过体积变形向通用面部动画迈出了一步
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647012
F. Ulgen
{"title":"A step towards universal facial animation via volume morphing","authors":"F. Ulgen","doi":"10.1109/ROMAN.1997.647012","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647012","url":null,"abstract":"As more and more of the virtual world inside our computers imitates real life, the creation of anthropomorphic agents is attracting attention. In the very near future, computer generated faces will be conversing with us via our personal computers, video phones and ATM machines. Although advances have been made in the field of computer facial animation, universal animation, which aims to animate any given computer face model automatically, has yet to be fully realized. This paper reports on an approach towards universal animation on polygonal 3-D face models with near-real time performance speed on personal computers. Platt's facial model (1985) is used as a generic base for acquiring muscle information and a 3-D volume morphing technique is used to obtain different faces for animation. Transferring the muscle information on a generic face to other face models has been accomplished. New face models can be animated without the tedious process of muscle attachment which also requires a knowledge of facial anatomy.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"77 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":"133795330","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: 38
Interactive virtual space calibration for teleoperation 遥操作交互式虚拟空间标定
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647032
Young Jin Lee, Jung Nam Yun, M. Chung
{"title":"Interactive virtual space calibration for teleoperation","authors":"Young Jin Lee, Jung Nam Yun, M. Chung","doi":"10.1109/ROMAN.1997.647032","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647032","url":null,"abstract":"Accurate matching between actual task environment of remote site and virtual environment of 3D graphics has become more and more important in telerobotic operations. This paper presents an interactive calibration method for matching a virtual environment represented by 3D graphic models with a camera view of a remote workspace. In this method, when the virtual environment might deviate from the actual one, we can effectively correct the pose of the 3D model by finding the amount of deviation and then update the database of the workspace. This paper also shows the effectiveness of accurately calibrated virtual environment for telerobotic operations by simple a experiment.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"192 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":"133459119","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: 1
Design of human-interface for situation awareness. II. Interdependence between control panel and alarm systems 态势感知人机界面设计。2控制面板和报警系统之间的相互依赖
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647001
M. Itoh, T. Inagaki
{"title":"Design of human-interface for situation awareness. II. Interdependence between control panel and alarm systems","authors":"M. Itoh, T. Inagaki","doi":"10.1109/ROMAN.1997.647001","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647001","url":null,"abstract":"This paper discusses how human interface can support operators in their assessing the operating condition of a dynamic system. We conduct an experiment in which the subjects control a simulated fluid circulation plant. Two types of human-interface designs are compared. Our experimental result shows that the human-interface reflecting physical locations of components is not always effective. Visual information has limited capacity to help operators in achieving situation awareness. Some further support information would be needed to give operators high situation awareness.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"38-40 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":"123639955","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: 6
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