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Robot and Human Communication, 1996., 5th IEEE International Workshop on

11-14 Nov. 1996

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Displaying Results 1 - 25 of 97
  • Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (536 KB)
    Freely Available from IEEE
  • Humans and technologies at home: from friendly appliances to robotic interfaces

    Publication Year: 1996, Page(s):71 - 79
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1482 KB)

    This paper provides a general approach to the problem of designing proper "interfaces" between humans and technologies at home. These interfaces should be designed for "all users", i.e. as friendly and simple to operate as possible, whatever the real technical background and/or motor ability of the user. The paper describes a philosophical approach and the consequent technical solution to these pr... View full abstract»

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  • How to measure and to quantify usability attributes of man-machine interfaces

    Publication Year: 1996, Page(s):262 - 267
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (948 KB)

    Several views on man-machine interaction are possible to measure usability attributes: 1) the interaction-oriented view, 2) the user-oriented view, 3) the product-oriented view, and 4) the formal view. Two different possibilities of measurement within the product-oriented view are introduced in this paper. Different types of user interfaces can be described and differentiated by the concept of "in... View full abstract»

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  • Control of multiple mobile robot groups

    Publication Year: 1996, Page(s):547 - 548
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (138 KB)

    Summary form only given. In studying multiple mobile robot systems (MMRS), interfacing between human users and robots is a very important issue. This is due to the fact that, up to now, it is impossible to have a truly autonomous MMRS. Humans must keep some degree of control, supervision and teleoperation. However, in teleoperation systems for mobile robots it has often assumed that the human user... View full abstract»

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  • Author index

    Publication Year: 1996, Page(s):551 - 553
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    Freely Available from IEEE
  • Learning from human's strategies of motor control: a challenge for robotic systems design

    Publication Year: 1996, Page(s):223 - 228
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    In areas such as tele-operation or assistance to humans with disabilities, it is of prime importance to design robots and machines which are consistent with human behavior. In this context, it is believed that the analysis of how humans perform trajectory formation, inverse kinematics and dynamics problems, in daily human motion, will be helpful in designing such complex systems. In this paper, we... View full abstract»

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  • Recognition of contact surfaces using optical tactile and F/T sensors integrated by fuzzy fusion algorithm

    Publication Year: 1996, Page(s):352 - 357
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    This paper proposes a surface recognition algorithm which determines the types of contact surfaces by fusing the information collected by the multisensor system, consisting of the optical tactile and force/torque sensors. Since the image shape measured by the optical tactile sensor system, which is used for determining the surface type, varies depending on the forces provided at the measuring mome... View full abstract»

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  • A sensor-based obstacle avoidance for a redundant manipulator using a velocity potential function

    Publication Year: 1996, Page(s):306 - 310
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    A new approach based on artificial potential function is proposed for the obstacle avoidance of redundant manipulators. Unlike the so-called “global” path planning method, which requires expensive computations for the path search before the manipulator starts to move, this new approach, called the “local” path planning, searches the path in real-time using the local distanc... View full abstract»

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  • Decentralized cooperation between multiple manipulators

    Publication Year: 1996, Page(s):183 - 188
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (960 KB)

    Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This article discusses the ongoing effort at Stanford University for the development of multiple mobile manipulation systems and presents the basic models and methodologies for their analysis and control. We present the extension of these methodologies to mobi... View full abstract»

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  • Measuring human actions using sequential boundary contour pairs

    Publication Year: 1996, Page(s):152 - 157
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (932 KB)

    In this paper, we present a method for measuring human actions using sequential boundary contour pairs, extracted from images obtained using a binocular sensor system with gaze control. Continually the differences between the current and previous pairs of contour images are used to reconstruct a human body model, which is represented by a set of cue spheres (CSs). For the reconstruction, first 2-D... View full abstract»

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  • Task oriented path planning of dual redundant manipulators

    Publication Year: 1996, Page(s):382 - 387
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    This paper presents a motion planning algorithm for dual redundant manipulators performing a coordinated motion. In particular, the algorithm is developed for a dual-arm, point-to-point motion planning problem of moving from one relative configuration to another relative configuration. The high degrees of redundancy of dual arms usually exceed the number of task constraints, and the extra degrees ... View full abstract»

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  • Tele-Handshake through the Internet

    Publication Year: 1996, Page(s):90 - 95
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (692 KB)

    As a new application of teleoperation, this paper presents human-human interaction through the Internet. By integrating the concept of teleoperation with the Internet, we have developed the Tele-Handshaking System (THS) which allows two persons in two different locations to physically communicate with each other by shaking hands through the system and receive tactile feedback. Data between both lo... View full abstract»

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  • Estimation of the degree of human facial expression

    Publication Year: 1996, Page(s):347 - 351
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    The purpose of this paper is to estimate the degree of human facial expression from expressionless to its maximum. For the purpose of extracting subtle changes in the face, it is necessary to eliminate the individuality appearing in the facial images. Our method is based on the idea that the degree of facial expression can be extracted as a variation from an expressionless face. Using a potential ... View full abstract»

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  • Failure recoverability by exploiting kinematic redundancy

    Publication Year: 1996, Page(s):298 - 305
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (828 KB)

    Various physical limitations which exist in the manipulator inverse kinematic system, for example joint travel and velocity limits, induce inevitable motion errors. This paper deals with the problem on how to reconstruct such an inverse kinematic solution using redundancy, in order not to entail any task motion error. By analyzing the error due to hardware limitations with respect to the kinematic... View full abstract»

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  • Task planning based on human-robot interaction for autonomous mobile robots

    Publication Year: 1996, Page(s):445 - 450
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    We propose a new method of task planning for autonomous mobile robots based on the properties of human-robot interaction. First, we present a planning method under restricted time for interaction and planning. We divide the planning process into two phases: phase 1 (during human interaction) and phase 2 (after human interaction). Second, we describe an algorithm to generate a plan that realizes si... View full abstract»

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  • On a decision making system with emotion

    Publication Year: 1996, Page(s):461 - 465
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    This paper proposes a decision making system and its process of the evolution. By evolving, this system comes to decide its action as if it has an emotion. According to the URGE theory asserted by Masanao Toda (1993), emotion is the most optimized and fundamental decision making system. If it is possible to generate such a system artificially, it may be applied in various engineering fields. Conve... View full abstract»

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  • Pose estimation of human body part using multiple cameras

    Publication Year: 1996, Page(s):146 - 151
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (888 KB)

    In this paper we present a method of obtaining the approximate transformation parameter values as a starting point in estimating the pose of rigid 3D free form objects using multiple 2D images. We back project the edge silhouettes in the images, and obtain the approximate volume in the 3D space containing the object. Next, for a point selected in the volume, we hypothesize a set of points within t... View full abstract»

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  • Toward constructing a dialogue management model for Kyowa

    Publication Year: 1996, Page(s):489 - 494
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    Utterances in a Japanese dialogue are usually overlapped by Aiduchi (back channel), making up for another's words, and so on. Such a dialogue is called Kyowa (collaborative dialogue) in Japanese. In Kyowa, two persons utterances constitute a single sentence. We have to construct a sentence in Kyowa collaboratively. We make our dialogue Kyowa for the purpose of enhancing a social human relation rat... View full abstract»

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  • Extraction and transmission of human intention on teleoperation

    Publication Year: 1996, Page(s):80 - 83
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    This paper tries to extract human intention from time series data in operator's arm action, and to let robots move as if robots have the same intention as the operator. Since human being is not always good at verbalize one's own mind, it is helpful for human-machine interface of teleoperation to interpret human arm actions View full abstract»

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  • Development of an eye system for three dimensional shape reconstruction

    Publication Year: 1996, Page(s):376 - 381
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    A three-dimensional vision system is indispensable for human-like robots and intelligent industrial robots. In order to reconstruct three dimensional shape of an object, an eye system is developed by combining stereo cameras and a laser stripe system based on the fact that two systems are complementary to each other. Pattern recognition algorithms for processing and fusion of sensor data are propo... View full abstract»

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  • Physics-based muscle model for mouth shape control

    Publication Year: 1996, Page(s):207 - 212
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1520 KB)

    Human image synthesis by computer graphics is essential to a virtual agent in human interfaces and entertainment visual systems. In this paper, a muscle model is proposed to create a super realistic human face. There are several researches to synthesize human expression, however, research about mouth shape control in conversation is limited to our group. Especially, we try to choose and modify mus... View full abstract»

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  • Reflections of thought: cognitive facial expressions in the human interface

    Publication Year: 1996, Page(s):195 - 200
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1976 KB)

    Thought or cognitive activity induces facial expressions. The neurological connection is not as direct as facial expressions of emotions, but these cognitive expressions are still important. They indicate the degree of cognitive difficulty which a person is having or the type of cognitive activity that is occurring. Since computer-generated environments are often highly cognitive in nature, cognit... View full abstract»

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  • Face detection and rotations estimation using color information

    Publication Year: 1996, Page(s):341 - 346
    Cited by:  Papers (1)  |  Patents (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    Detecting human faces in images and estimating the pose of the faces are very important problems in human computer interaction studies. This paper describes a new approach for detecting faces whose size, position and pose are unknown in an image with a complex background and for estimating their poses, both of which using the color information. We use a perceptually uniform chromatic system for re... View full abstract»

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  • Measuring system for grasping

    Publication Year: 1996, Page(s):292 - 297
    Cited by:  Papers (11)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1000 KB)

    A measuring system for grasping function is developed. The purpose of this system is to measure and analyze the grasping function of human hands. In this report, the structure of the system is introduced. The sensor glove which is the main device of the system, developed by the authors to measure the operation force distribution in hands, is also explained in detail. Using this system, the operati... View full abstract»

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  • Mobile robot navigation by user-friendly goal specification

    Publication Year: 1996, Page(s):439 - 444
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (816 KB)

    In this article, we discuss mobile robot navigation in an unknown environment. Different from the conventional formulation of the problem, we assume that the position of the goal is not given by its coordinates defined with the environment but by a verbal description of the route to it, such as “turn right at the 2nd corner, and...”. We call distinctive places such as intersections, wh... View full abstract»

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