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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Mitsuru Jindai Tomio Watanabe Faculty of Computer Science and System Engineering Okayama Prefectural University Soja Okayama Japan

We previously proposed a model for a handshake approaching motion with a voice greeting and developed a handshake robot system that applied the proposed model for embodied interaction with humans. The handshake robot system was fabricated by considering the average size of a human arm. However, small-size embodied interaction robots are required for use in homes. Therefore, in this study, a small-size handshake robot system is developed for use in the home. Furthermore, a hand position recognition method that involves a combination of an image processing and a 3D model of a human arm is proposed, and the method is adopted in the developed robot system to recognize the position of a human hand without requiring prior contact or any restrictions on humans. The effectiveness of the handshake approaching motion model for a small-size robot and the developed small-size handshake robot system are demonstrated by sensory evaluation.

关键词： Humans Cameras Robot sensing systems Three dimensional displays Image recognition Robot kinematics

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A rewinding approach to motion planning for acrobot based on virtual friction

A rewinding approach to motion planning for acrobot based on...

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IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010

作者： She, Jin-Hua Lai, Xu-Zhi Xin, Xin Guo, Li-Li School of Computer Science Tokyo University of Technology 1404-1 Katakura Hachioji Tokyo 192-0982 Japan School of Information Science and Engineering Central South University Changsha Hunan 410083 China Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Information and Communication Engineering College Harbin Engineering University Harbin 150001 China

ISBN: (纸本)9781424456970

Based on the concept of kinematical controllability, we can decouple the trajectory planning of an acrobot into two steps: finding a path in a configuration space and time-scaling it. In this paper, we apply this concept and plan the swing-up motion of an acrobot based on its falling-down motion. First, the initial state of the acrobot is set to the unstable upright equilibrium position, and the movement from this state to the stable downward equilibrium position is produced by introducing an artificial damping torque. A method to obtaining an optimal damping torque is presented. Then, the reference trajectory for the swing-up motion is taken to be the reverse of the falling-down motion. The validity of this method is demonstrated through simulations. ©2010 IEEE.

关键词： Motion planning

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Development of a shake-motion transit model for a handshake robot system

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japa...

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Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 2010年第766期76卷 1539-1546页

作者： Jindai, Mitsuru Watanabe, Tomio Fukuta, Tadao Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja-shi Okayama 719-1197 Japan

A handshake is an embodied interaction to display human closeness by way of physical contact. To enable a robot to shake hands with a human, we have proposed models that simulate the handshake approaching motion and the handshaking motion by analyzing the handshake motion between humans. These models simulate the approaching motion and the handshaking motion of the human hands during a handshake. However, in addition to the above two motions, smooth transition from the approaching motion to the handshaking motion is necessary to ensure a firm handshake between the robot and a human. In this paper, we analyze the handshaking motion between humans and propose a model to ensure a smooth transition from the approaching motion to the handshaking motion. By using this model, the robot leads the human to the handshaking motion by actively making a leading motion that is synchronized with the start timing of the handshaking motion. Furthermore, a handshake robot system is developed based on this model, and experiments are performed using it. The experimental results show the effectiveness of the proposed model. The robot begins the handshaking motion 0.2 seconds after gripping the human hand, and the direction of motion is determined by the contact height of the robot and human hands.

关键词： Human robot interaction

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Classification of hand postures based on 3D vision model for human-robot interaction

Classification of hand postures based on 3D vision model for...

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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Takimoto, Hironori Yoshimori, Seiki Mitsukura, Yasue Fukumi, Minoru Faculty of Computer Science and System Engineering Communication and Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Faculty of Engineering Nippon Bunri University 1727 Ichigi Oita 870-0397 Japan Graduate School of Bio-Application and Systems Engineering Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Higashi-koganei Tokyo 184-8588 Japan Dept. of Information and Science Intelligent Systems University of Tokushima 2-1 Minami-josanjima Tokushima 770-8506 Japan

ISBN: (纸本)9781424479917

In this paper, a method for hand posture recognition, which is robust for hand posture changing in an actual environment, is proposed. Conventionally, a data glove device and a 3D scanner have been used for the feature extraction of hand shape. However, the performance of each approach is affeected by hand posture changing. Therefore, this paper proposes the posture fluctuation model for efficient hand posture recognition, based on 3D hand shape and color feature obtained from a stereo camera. A large set of dictionary for posture recognition is built by various leaned hand images which were auto-created from one scanned hand image, based on plural proposed models. In order to show the effectiveness of proposed method, performance and processing times for posture recognition are compared to conventional method. In addition, we perform the evaluation experiment by using the Japanese sign language. © 2010 IEEE.

关键词： Human robot interaction

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Robust environment perception based on occupancy grid maps for autonomous vehicle

Robust environment perception based on occupancy grid maps f...

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SICE Annual Conference

作者： Naoki Suganuma Toshiki Matsui Institute of Science and Engineering Kanazawa University Kanazawa Ishikawa Japan Faculty of Computer Science and System Engineering Okayama Prefectural University Okayama Japan

ISBN: (纸本)9781424476428

For a purposes of reduction of driving workload, traffic accidents, and so on, autonomous vehicle systems, which can drive even though no human driver rides on, have been developed all over the world. Recently, it is considered that a part of such techniques play an important roll to energy saving. To navigate the autonomous vehicle in a complex environment, it is necessary to extract static objects precisely and robustly. Moreover, about dynamic objects, it is not enough to consider its existing position, and it is considered that estimating its motion and predicting its future position are strongly demanded. In this paper, for a solution of such problems, we propose an environment perception method using a LIDAR based on Occupancy Grid Maps.

关键词： Laser radar Vehicles Vehicle dynamics Dynamics Mobile robots Robustness Navigation

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Revisiting energy-based swing-up control for the Pendubot

Revisiting energy-based swing-up control for the Pendubot

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Xin Xin Seiji Tanaka Jin-Hua She Taiga Yamasaki Faculty of Computer Science and System Engineering Okayama Prefectural University Okayama Japan School of Computer Science Tokyo University of Technology Hachioji Tokyo Japan

In this paper, we revisit the energy-based swing-up control for the Pendubot, a two-link underactuated planar robot with a single actuator at the base joint (shoulder). Different from previous energy-based control solutions, we obtain the following results: 1) we provide a bigger control parameter region for achieving the control objective. Specifically, we present a necessary and sufficient condition for avoiding the singular points in the control law. We obtain a necessary and sufficient condition on the control parameters such that the up-down equilibrium point (at which links 1 and 2 are in the upright and downward positions, respectively) is the only undesired closed-loop equilibrium point. 2) We prove that the up-down equilibrium point is saddle (hyperbolic and unstable) via an elementary proof by using the Routh-Hurwitz criterion to show that the Jacobian matrix valued at the point has two and two eigenvalues in the open left- and right-half planes, respectively. This paper prove that the Pendubot will eventually enter the basin of attraction of any stabilizing controller for all initial conditions with the exception of a set of Lebesgue measure zero provided that these improved conditions on the control parameters are satisfied. The simulation results are provided to validate these results.

关键词： Robots Erbium Joints Mathematical model Equations Eigenvalues and eigenfunctions Jacobian matrices

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Determination of weights of generalized Voronoi regions using Tabu search and applications

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Journal of Japan Industrial Management Association 2010年第4期61卷 253-262页

作者： Ono, Tsutomu Kanagawa, Akihiro Yamauchi, Hitoshi Miyazaki, Shigeji Ryobi System Solutions Corporation Japan Faculty of Computer Science and System Engineering Okayama Prefectural University Japan Okayama University Graduate School of Natural Science and Technology Japan

Every Voronoi region has a polygonal form and has a point which is called generatrix. In this paper, we treat the generalized Voronoi regions as Voronoi regions with weighted generatrices. If the weights of all generatrices are identical, these regions conform with usual Voronoi regions. Suppose a set of points which are not generatrices and usual generatrices are distributed on a plane. Proposed procedures in this paper can find a set of suitable generatrix weights so as to include points in the respective region in accordance with the specified proportion. Tabu search is used to determine generatrix weights. An application of these generalized Voronoi regions is introduced. If points and generatrices are regarded as cities and depots, respectively, this proposal can be applied to the vehicle routing problem(VRP).

关键词： Tabu search

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Another Aspect of Triangle Inequality

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International Scholarly Research Notices 2011年第1期2011卷

作者： Kichi-Suke Saito Runling An Hiroyasu Mizuguchi Ken-Ichi Mitani Department of Mathematics Faculty of Science Niigata University Niigata 950-2181 Japanniigata%2Du.ac.jp Department of Mathematics Taiyuan University of Technology Taiyuan 030024 *** Department of Mathematics and Information Science Graduate School of Science and Technology Niigata University Niigata 950-2181 Japanniigata%2Du.ac.jp Department of Systems Engineering Okayama Prefectural University Soja Okayama 719-1197 Japanoka%2Dpu.ac.jp

We introduce the notion of ψ -norm by considering the fact that an absolute normalized norm on ℂ 2 corresponds to a continuous convex function ψ on the unit interval [0,1] with some conditions. This is a generalization of the notion of q -norm introduced by Belbachir et al. (2006). Then we show that a ψ -norm is a norm in the usual sense.

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Modelless and grasping-forceless control by robotic fingers capable of mechanically coupled movement

Modelless and grasping-forceless control by robotic fingers ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Takahiro Inoue Daisuke Takizawa Shinichi Hirai Department of Systems Engineering of Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan SYSMEX Corporation Kobe Hyogo Japan Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

This paper formulates the dynamics of 5 degrees-of-freedom (DOFs) robotic hand that consists of an index finger and an opposable thumb like the human hand. This system has two geometrical constraints and five velocity constraints generated during the object manipulation task. The three of the velocity constraints are associated with the joint angles of the robot, and are combined to the proposed system on the basis of observations about the fact that the distal two joints of the index finger are mechanically coupled. Based on the equations of motion including these constraints, we perform precise orientation control of a rectangular object grasped by the 5-DOFs robotic hand in the situation that grasping forces are not defined during the manipulation. The manipulation task given is one-finger control (index finger), for which a serial two-phased (STP) controller that had previously been proposed is modified. In experiments, we demonstrate that a simple integral controller designed by eliminating the second stage of the STP controller works well in the soft-fingered manipulation. In both simulations and experiments, it is clearly indicated that Jacobian matrices and the grasping forces are not necessarily required in the control law for accomplishing dexterous manipulation tasks. In other words, it is implied that a complete modelless and grasping-forceless control can be achieved in the task-space control.

关键词： Joints Robot sensing systems Thumb Grasping Trajectory Indexes

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Effects of Delayed Presentation of Self-Embodied Avatar Motion with Network Delay

Effects of Delayed Presentation of Self-Embodied Avatar Moti...

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2010 4th International Universal Communication Symposium(第四届国际普遍交流学术研讨会 IUCS 2010)

作者： Yutaka Ishii Yoshihiro Sejima Tomio Watanabe Information Science and Technology Center Kobe University 1-1 Rokkodai Nada Kobe Japan Graduate School of Science and Engineering Yamaguchi University Faculty of Computer Science and Sys Faculty of Computer Science and System Engineering Okayama Prefectural University CREST Japan Scie

A large network delay is likely to obstruct human interaction in telecommunication systems such as telephony or video conferencing systems. In spite of the extensive investigations that have been carried out on network delays of voice and image data, there have been few studies regarding support for embodied communication under the conditions of network delay. To maintain smooth human interaction, it is important that the various ways in which delay is manifested are understood. We have already developed an embodied virtual communication system that uses an avatar called "VirtualActor," in which speakers who are remotely located from one another can share embodied interaction in the same virtual space. Responses to a questionnaire that was used in a communication experiment confirmed that a fixed 500-ms network delay has no effect on interactions via VirtualActors. In this paper, we propose a method of presenting a speaker's voice and an avatar's motion feedback in the case of a 1.5-s network delay using VirtualActors. We perform two communication experiments under different conditions of network delay. The aim of the first experiment is to examine the effect of a random time delay on the conversation. The second experiment is conducted under the conditions of a free-form conversation that takes place in 5 scenarios—1 realtime scenario without a network delay and 4 scenarios with network delay that involve a combination of a delay in the talker's voice and in his/her avatar's motion feedback. The subjects consisted of a total of 30 students who worked in 15 pairs and who were familiar with each other. A sensory evaluation shows the effects upon communication of delays in the avatar's motion feedback, from the viewpoint of supporting the interaction.

关键词： Embodied Communication Avatar-Mediated Communication Network Delay Feedback Presentation Avatar's Motion Delay

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