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

{"title":"Multi-robots teleoperation - analysis and prognosis","authors":"A. Kheddar, P. Coiffet, T. Kotoku, E. Tanie","doi":"10.1109/ROMAN.1997.646975","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646975","url":null,"abstract":"This paper presents a synthesis of the collaborative work between the MEL and the LRP under the framework of long distance multi-robots teleoperation using an intermediate functional representation (IFR) of the real remote world by means of virtual reality. We discuss the results of the first experiment and its extension for controlling in parallel 4 robots without video feedback, and the results of the second experiment performed for controlling 2 remote robots in parallel with added features to improve the precedent one. We used direct human hand actions, within an intermediate functional representation of the remote environment by means of virtual environment as a guide for task execution and teleoperation. The paper ends with future teleoperator perspectives such as using two hands for cooperative teleoperation and concurrent IFR using multiple masters and robots.","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":"127965142","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}

{"title":"The humanoid Saika that catches a thrown ball","authors":"K. Nishiwaki, A. Ionno, K. Nagashima, M. Inaba, H. Inoue","doi":"10.1109/ROMAN.1997.646959","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646959","url":null,"abstract":"This paper addresses ball-catching behavior by the humanoid robot Saika. The aim of this study is to implement human skills on the humanoid in the same manner as human performs them. The behavior of catching a falling and a thrown ball is chosen as an example of dynamic skilful manipulation. Considering the human behavior we realize ball-catching behavior by three steps: (a) localization of the ball by the vision system, (b) prediction of the ball's path to determine the catching point, and (c) reaching out the hand to the catching point by a neural network inverse kinematics model. Experimental results demonstrate the validity of the catching strategies.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"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":"126649995","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}

{"title":"Evaluation of the entrainment between a speaker's burst-pause of speech and respiration and a listener's respiration in face-to-face communication","authors":"T. Watanabe, M. Okubo","doi":"10.1109/ROMAN.1997.647018","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647018","url":null,"abstract":"Entrainment which forms the biological relation between talkers plays an important role in the smooth exchange of information. In this paper, the physiological entrainment of respiration between talkers is evaluated on the basis of burst-pause of speech, respiration and heart beat-to-beat interval as indices from the viewpoint that the respiratory entrainment would be a physiological main factor to make communication smooth in face-to-face interaction. By using the proposed physiological measurements of communication, the experiment is performed in adult face-to-face versus non-face-to-face communication. The existence of respiratory entrainment in face-to-face communication is demonstrated by the cross-correlation analysis of the indices. This finding suggests the entrainment is biologically essential to human communication and it can be applied to the human interface for the design and evaluation of face-to-face interaction support systems such as a teleconference system.","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":"130393395","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}

{"title":"A spatial position tracker for work-site teaching of sensor-enhanced robotic systems","authors":"Y. Yanagihara, Y. Isoda, K. Arakawa, T. Kakizaki","doi":"10.1109/ROMAN.1997.646978","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646978","url":null,"abstract":"A spatial position tracker (SPT) for the human operator that performs robotic teaching at a work-site coexisting with a sensor-enhanced robot system is presented. The SPT measures the operator's position in real time by stereo processing of images from two CCD cameras with infrared filters and the operator's orientation, using a three-dimensional gyro. It enables the work-site operator to utilize augmented reality to understand the necessary task world information, including the sensor and end-effector's relative position and orientation without any special skills. In this paper, we describe the system configuration, discuss the detection accuracy, and present results for applying it to a multimodal teaching advisor currently being developed.","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":"133593432","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}

{"title":"A study on the cleaning algorithm for autonomous mobile robot under the unknown environment","authors":"Ju Yong Park, Kiju Lee","doi":"10.1109/ROMAN.1997.646955","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646955","url":null,"abstract":"So far, industrial robots have made significant contributions in manufacturing process and provided versatility to the flexible manufacturing systems (FMS). In recent years, the robot systems can be used for military purpose, medical operations, and home service as well as the previously industrial manufacturing systems. Especially, there has been an ever increasing interest in mobile robot for home services. However, issues currently being investigated for path planning of the mobile robot are concentrated to solving the problem of finding the optimal path from the initial location to the final location under the given performance indices. In this study, we propose a new cleaning algorithm for autonomous mobile robot to cover the whole closed area under the unknown environment. It is verified by computer simulation for the changing environment conditions.","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":"114716915","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}

{"title":"Deformable templates for tracking the facial components","authors":"H. Saji, H. Nakatani","doi":"10.1109/ROMAN.1997.647013","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647013","url":null,"abstract":"Deformable templates for tracking the motions of the facial components are proposed. Using simple functions the proposed template interpolates the motions while the conventional templates interpolate the shapes. The initial shapes of the proposed templates are fitted to the intricated shapes of the real facial components. The templates are flexible enough to track the deformations of the facial components by changing a few parameter values of the simple interpolation functions.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"18 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":"122410437","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}

{"title":"Human skill analysis based on multisensory data","authors":"D. Sato, S. Yamada, M. Uchiyama","doi":"10.1109/ROMAN.1997.646995","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646995","url":null,"abstract":"In this paper, we report our approach to determine the essential features of human physical skills and the possibility for transferring them to robots. We focus on two tasks: crank rotation and side matching. The human skills are experimentally analyzed by measuring the hand position and force in the execution of these tasks using a vision tracking system and six-axis force/torque sensors. In the experiments, we obtained data under various conditions, such as both using and not using a blinder. Relevant data analysis for characterizing the human skills is presented.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"58 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":"124504859","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}

{"title":"Human friendly control system of alveolar CO/sub 2/-concentration based on adaptive control theory","authors":"K. Takahara, H. Wakamatsu","doi":"10.1109/ROMAN.1997.647025","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647025","url":null,"abstract":"The purpose of the present study is to construct a basic experimental system for automatic control of alveolar CO/sub 2/-concentration during controlled and assisted respiration. This system consists of a newly developed computer-controlled respirator and its controlling devices. In the present study, ventilation rate and alveolar CO/sub 2/-concentration are regarded as the input and output of the controlled object, respectively. The automatic control system of alveolar CO/sub 2/-concentration is designed using an adaptive pole-placement method. The proposed system is applied to clinically basic control experiments of alveolar CO/sub 2/-concentration both in controlled and assisted respiration. Furthermore, physiological experiments are made on healthy subjects during light exercise in order to ascertain the robustness of the system. Thus, the proposed system is confirmed to be useful for the control of alveolar CO/sub 2/-concentration taking into account characteristic differences of the respiratory regulation system due to chronic change and individuality.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"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":"116236503","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}

{"title":"Influence Of Ethnic Culture On Human-robot Cooperative Work","authors":"I. Kuroda","doi":"10.1109/ROMAN.1997.646945","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646945","url":null,"abstract":"uct time schedule 3. Shortage and dissatisfaction of skilled operators 4. Movement of employee from productive works to service works 5. Need of multi-skilled operators The International Human-Robot Symposium titled “Contribution of Microelectronics to the Enhancement to Human Life” was held at Osaka in 1963 with many attendance from USA, Europe and other countries. In 1982,62.6% of robots in the world was working in Japan. 19.1% working in USA and Canada, 18.3% working in Europe. Discussions concentrated to why over 60% of robots are working in Japan specially and why each robot has idol’s name like a colleague because robot destruction happening by workers occurred due to take away their jobs in the United Kingdom. Hot argument developed to comparative and religious cultures between Japan and other countries. The labor is atonement for his sins in Christian countries. However, in Japan, the labor is the way to approach to Buddha or God, so robot is a close cooperator, not an enemy to take away his job. Basically, Japanese is polytheism including even robots as an object of faith. The mental and social climate of Japanese does exist as the background to correspond to the robots. An introduction of foreign different cultures into Japanese society was positively accepted rather than obstructed historically and was refined up to artistical level. Industrial employees have a high sense of belonging to company and a form of behavior with importance attached to human relationship in a group. The labor unions are almost a company labor union. They are highly educated and very diligent. Such mental climate contributes to refine the important Quality Control Techniques from USA to Total Quality Control Techniques specifically in Japan and to introduce robots to industries without resistance. The high level of industrial safety is also attributed to this mental climate. In contrary, the shame culture in Japan is working as an impediment to open-minded behavior to report human errors and incidents straightforward and to be accepted such events frankly by administrators which are the most important clues to prevent future accidents. Time stress, over-responsibility and too-intimate human relation are also the biggest reasons of industrial acci-","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"284 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":"116509821","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}

{"title":"Trajectory planning of a manipulator of a space robot using a neural network","authors":"T. Mineta, J. Qiu, J. Tani","doi":"10.1109/ROMAN.1997.646949","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646949","url":null,"abstract":"In space, the movement of the space robot is subjected to the law of angular momentum conservation as a nonholonomic constraint. Hence, different trajectories of a manipulator result in different final states in inertial space. To ensure safe and reliable operations of a space robot, it is necessary to plan the trajectory of the manipulator mounted on a space robot before the operations. In this paper, the trajectory planning method using a neural network for the manipulator of a space robot is proposed. The trajectory obtained by this method is compared with that obtained by analytical method for the approximate model in which the mass of the manipulator is neglected. The method is applied to the exact model in which the mass of the manipulator can not be neglected.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"18 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":"127839619","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}