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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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Tele-museum: multimedia interface and control for exploring a remote museum from home 远程博物馆:用于从家中探索远程博物馆的多媒体接口和控制
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647028
A. Agah, K. Tanie, K. Ohkawa, K. Iwamoto
{"title":"Tele-museum: multimedia interface and control for exploring a remote museum from home","authors":"A. Agah, K. Tanie, K. Ohkawa, K. Iwamoto","doi":"10.1109/ROMAN.1997.647028","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647028","url":null,"abstract":"This paper presents the design and implementation of a telepresence system, where a mobile manipulator robot is utilized to explore a museum at a remote site, sending live video, and audio on demand to a user at the local site. The user is capable of remote manipulation through the robot. The user is monitored and human intention understanding is utilized to enhance the human-robot communication. The multimedia interface and control of the system are described, allowing for the integration and fusing of the intelligence of the local human user with the intelligence of the remote robot. Research issues in achieving high fidelity telepresence are also discussed.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"95 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":"121874965","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
Emotion model with evolution process 具有进化过程的情感模型
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647008
K. Inoue, H. Kobayashi
{"title":"Emotion model with evolution process","authors":"K. Inoue, H. Kobayashi","doi":"10.1109/ROMAN.1997.647008","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647008","url":null,"abstract":"This paper proposes a decision making system derived by evolution process. The proposed system acts as if it has an emotion. Recent researches on emotion have shown that emotion is the most reasonable decision making system for maintaining the individual and its species. If it is able to generate this system artificially, it may be applicable to various engineering fields. Conventional approach to artificial emotion is to analyze emotional expression of human being and to simulate this expression. The structure of the simulation model is determined artificially without the knowledge of actual emotion system. However, recent cognitive science understands that emotion system cannot be described previously, but it can only be derived by evolutions. Thus, such simulation model without considering evolution may not be proper. On this point of view, we propose a decision making system derived by evolution process.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"356 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":"120963154","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
Swinging-up of two pendulums by manual control 手动控制两个钟摆的摆动
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646993
Y. Ito, H. Inooka
{"title":"Swinging-up of two pendulums by manual control","authors":"Y. Ito, H. Inooka","doi":"10.1109/ROMAN.1997.646993","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646993","url":null,"abstract":"Simultaneous swinging-up of two pendulums by manual control is discussed in this paper. The same torque is applied for two pendulums with different physical parameters. We assume that the viscous damping factors of the pendulums are negligible. Since the control task is very difficult, we propose a manual control system with a computer assistance. The dynamic behavior of the two pendulums is simulated by a digital computer and its animation is shown on a CRT display. In addition, the computer generates appropriate signal assisting the human operator based on the energy diagrams of the pendulum. A human operator manipulates the pendulum motions while watching the display. We show that successful experimental results can be obtained by using the proposed manual control system.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"55 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":"128542453","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
Neuro-fuzzy control of a robot manipulator for a trajectory design 基于神经模糊控制的机械臂轨迹设计
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646992
J. Son, Hong You Sik, Park Chong Kug
{"title":"Neuro-fuzzy control of a robot manipulator for a trajectory design","authors":"J. Son, Hong You Sik, Park Chong Kug","doi":"10.1109/ROMAN.1997.646992","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646992","url":null,"abstract":"The primary weakness of previous methods for a trajectory design is the massive amount of computer time needed to obtain a solution. Neuro-fuzzy systems combined neural network and fuzzy logic offer not only the characteristics of parallel processing, but also the ability to learn the trajectory of a robot manipulator. In this paper, we studied a trajectory design problem of a robot manipulator using a neuro-fuzzy systems. The technique of this neuro-fuzzy system replaces the rule base of a traditional fuzzy logic system with a backpropagation neural network. The definition of the fuzzy membership functions used to the fuzzification and defuzzification of the input and output variables plays a significant role in the ability of the neuro-fuzzy controller to learn and generalize. Finally, the validity of the proposed technique was tested using a planar manipulator.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"57 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":"130739593","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 mobile robot which passes a man 移动机器人超越人
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646964
M. Yoda, Y. Shiota
{"title":"The mobile robot which passes a man","authors":"M. Yoda, Y. Shiota","doi":"10.1109/ROMAN.1997.646964","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646964","url":null,"abstract":"Using characteristics of human passing (i.e., the way in which a person moves to pass another person who is walking towards him), which were obtained from experiments, an algorithm of the typical human passing was constructed. The mobile robot which realizes this algorithm of human passing was manufactured and conducted a passing experiment to confirm the motion of this mobile robot. The robot has a distance measuring system, a controller, and a motor driver. The distance measuring system is used to detect a relative position to and the velocity of man. The controller includes a microcomputer which has a basic motion program and a human passing motion program based on the human passing algorithm. The motor driver controls 2 stepping motors for the robot motion. The results of the motion of a passing experiment using a man and this robot was identical with the characteristics of human passing. Therefore, we considered that this mobile robot realized part of human passing motion.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"59 1 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":"129183059","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: 44
Mutual adaptation in human-robot cooperative walk-mutual-entrainment-based internal control 人机合作行走中的相互适应——基于相互夹带的内部控制
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646968
Y. Miyake, J. Tanaka
{"title":"Mutual adaptation in human-robot cooperative walk-mutual-entrainment-based internal control","authors":"Y. Miyake, J. Tanaka","doi":"10.1109/ROMAN.1997.646968","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646968","url":null,"abstract":"Mutual-entrainment-based internal control is proposed to overcome the limitation of the control theory which is based on the separation between the system and its environment. In this new approach, since the system's dynamics are inseparable from those of the environment, it should be composed of two different activities. One self-organizes the relationship between the system and the environment by using \"mutual entrainment\" as a nonlinear interaction, and the other controls the organized relationship based on that relationship. This relationship-based internal control is realized as a mutual adaptation process in an autonomous robot which assist disabled people in walking.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"1 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":"128783039","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
Sensory evaluation of preference of 3D shape in virtual and real environments 虚拟和真实环境中三维形状偏好的感官评价
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647030
M. Okubo, Tomio Watanabe
{"title":"Sensory evaluation of preference of 3D shape in virtual and real environments","authors":"M. Okubo, Tomio Watanabe","doi":"10.1109/ROMAN.1997.647030","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647030","url":null,"abstract":"We evaluate an object on a computer display in place of the real object, for example in 3D CAD, WWW shopping and so on. This may be used on the assumption that the evaluation of the shape image in virtual space almost agrees with that of the real object in real space. In this paper, in order to clarify the difference of shape evaluation in virtual and real spaces, the performance of 3D shape images on a computer display and the real photoforming products made from the same data is evaluated in 30 subjects by the sensory evaluation of paired comparison. The 3D models used in the experiments are made from lip motion data that subjects have not seen before. The result tends to be preference for the same shape in both spaces, but there is significant difference in the relations of preference among shapes based on the Bradley-Terry model for the sensory evaluation, i.e., the matching of the model in real space is consistent whereas that on the display is inconsistent. This indicates that there is high possibility of disagreement between the evaluation in virtual space and that in real space.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"20 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":"132457889","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: 7
Extraction of a dynamic structure of biological signals as stochastic automata for a human-machine interface 作为随机自动机的生物信号动态结构的人机界面提取
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647026
A. Yamaguchi, H. Watanabe, S. Mikami, M. Wada
{"title":"Extraction of a dynamic structure of biological signals as stochastic automata for a human-machine interface","authors":"A. Yamaguchi, H. Watanabe, S. Mikami, M. Wada","doi":"10.1109/ROMAN.1997.647026","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647026","url":null,"abstract":"Concerning a human-machine interface, we investigate a method to extract the dynamical structure from biological signals. Applying the /spl epsiv/-Machine reconstruction technique to the measured time series of the pulsation of a human finger's capillary vessels, we extract the macroscopic structure of its dynamics using a stochastic automaton. In terms of stochastic automata, we evaluate the graph complexity and the identification performance of the constructed automaton. To measure the pulsation of a capillary vessel, we use a reflection type pick-up consisting of an infrared sensor unit and an infrared emitter.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"1 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":"130016429","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
An EMG controlled robotic manipulator using neural networks 基于神经网络的肌电控制机械臂
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647027
O. Fukuda, T. Tsuji, M. Kaneko
{"title":"An EMG controlled robotic manipulator using neural networks","authors":"O. Fukuda, T. Tsuji, M. Kaneko","doi":"10.1109/ROMAN.1997.647027","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647027","url":null,"abstract":"This paper proposes an adaptive human-robot interface using a statistical neural network which consists of a forearm controller and an upper arm controller. The forearm controller selects an active joint out of three joint degrees of freedom, and controls its driving speed or grip force according to EMG signals measured from a human operator. The upper arm controller controls the joint angle of the upper arm according to the position of the operator's wrist joint as measured by a 3D position sensor. Experiments have shown that the EMG patterns during forearm and hand movements can be classified with high accuracy using our network to be of use as an assistive device for a handicapped person.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"135 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":"122625443","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: 34
A man-machine interface with verbal communication: command with demonstrative pronoun 具有口头交流的人机界面:带有指示代词的命令
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647019
I. Matsumura, J. Tatsuno, Y. Kokubo, H. Kobayashi
{"title":"A man-machine interface with verbal communication: command with demonstrative pronoun","authors":"I. Matsumura, J. Tatsuno, Y. Kokubo, H. Kobayashi","doi":"10.1109/ROMAN.1997.647019","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647019","url":null,"abstract":"Describes the construction of a human-friendly man-machine interface. We think that we should model human natural communication when constructing a human-friendly man-machine interface. We try to realize man-machine communication by the commands with demonstrative pronoun and simple action. We construct a fundamental system and do some simple experiments.","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":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121265261","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
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