Robot and Human Communication, 1997. RO-MAN '97. Proceedings., 6th IEEE International Workshop on

Sept. 29 1997-Oct. 1 1997

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

    Publication Year: 1997
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    Freely Available from IEEE
  • Author index

    Publication Year: 1997, Page(s):501 - 503
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    Freely Available from IEEE
  • Master-slave quadruped walking robot

    Publication Year: 1997, Page(s):148 - 153
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1004 KB)

    The real time recognition of the environment and the decision of the control signal to each actuator are very important for control of a walking robot on rough terrain. Techniques are not perfect at present. So, we propose master-slave quadruped walking robots using radio control devices, which can use efficiently the recognition and control function of a human. In the paper, we describe experimen... View full abstract»

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  • Determination of human energy generated by skeletal muscle

    Publication Year: 1997, Page(s):272 - 277
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    In order to analyse the mechanical interaction between human arm and manual control device for the design of optimized physical man-machine interfaces, a method of determination of energy expenditure by the muscle system of a human arm acting on the device is presented. This energy is considered as a physical and measurable quantity, and can be used to evaluate the performance of a mechanical man-... View full abstract»

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  • Robust position, motion-inducing force, and internal force control for multi-robot system

    Publication Year: 1997, Page(s):82 - 87
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    The forces exerted on an object by the each end-effector of multimanipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force contributes to the motion of an object and internal force can not do it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In... View full abstract»

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  • Golf-swing robot emulating a human motion

    Publication Year: 1997, Page(s):28 - 33
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    The performance of golf clubs and balls is generally evaluated using a golf-swing robot that conventionally have two or three joints with completely interrelated motion. This interrelation allows the user of this robot to specify only the initial posture and swing velocity of the robot and thus, the swing motion of this type of robot cannot be subtly adjusted to the specific characteristics of ind... View full abstract»

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  • Control of a robot handling an object in cooperation with a human

    Publication Year: 1997, Page(s):142 - 147
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    We consider a robot system handling an object in cooperation with a human, with which the human can easily handle a heavy object. The robot system supports and moves the object in the direction of the intentional force applied to the object by the operator. We discuss how to generate the motion of the object based on the intentional force applied to the object by the human. We propose several algo... View full abstract»

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  • Swinging-up of two pendulums by manual control

    Publication Year: 1997, Page(s):266 - 271
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    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 simul... View full abstract»

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  • Cooperative performance system based on agents

    Publication Year: 1997, Page(s):454 - 459
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    This paper describes a cooperative performance system based on agents. To realize more intimate cooperation, it is necessary for the system to consider the feelings of a user which reflect his personal taste and mental state. We propose a model of cooperation of the agents considering those feelings. In this model, emotional factors of agents are expressed by “mental potential”, which ... View full abstract»

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  • Behavior learning and evolution of collective autonomous mobile robots based on reinforcement learning and distributed genetic algorithms

    Publication Year: 1997, Page(s):248 - 253
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    In this paper, we present the reinforcement learning and distributed genetic algorithm based behavior learning of the distributed autonomous mobile robots. The internal reinforcement signal for the reinforcement learning is generated by fuzzy inference, and dynamic recurrent neural networks are used as action generation module. We adopt the distributed genetic algorithms for the cooperative behavi... View full abstract»

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  • Facial expression recognition using thermal image processing and neural network

    Publication Year: 1997, Page(s):380 - 385
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (616 KB)

    A method using thermal image processing and a neural network is presented for recognition of facial expression. The method is based on 2-dimensional detection of temperature distribution of the face, using infrared rays. The front-view face in the input image is normalized in terms of the size and the location, followed by measurement of the local temperature difference between the averaged neutra... View full abstract»

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  • Adding emotional factors to synthesized voices

    Publication Year: 1997, Page(s):344 - 351
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (664 KB)

    This paper deals with how to add emotional factors to synthesized voices by applying essentic forms of emotion which reflect the timewise response of muscle reaction to each kind of emotions. We modulate the magnitude and fundamental frequency of given series of voice with no emotional factor by the essentic standard forms obtained by fingertip pressure. Psychological evaluation of these modulated... View full abstract»

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  • How to model behavioural and cognitive complexity in human-computer interaction with Petri nets

    Publication Year: 1997, Page(s):320 - 325
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    Decisions and actions produced by computer users (observed process) contain much information about their mental models, individual problem solving strategy and underlying decision structure for a given task. Our tool AMME analyses observed processes and automatically extracts a Petri net description of the task dependent decision structure (logical structure). This net is extended by goal setting ... View full abstract»

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  • How does environment bias behavior of autonomous robots with evolutional perception

    Publication Year: 1997, Page(s):76 - 81
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    In this paper, concerning with the emergence of intelligent behaviors of some artificial systems like an autonomous robot, we put an emphasis on the importance of their continuous interactions with an environment, and consider about how an environment affects on their forming behavioral rules that are needed for their survival. For these purposes, we at first develop an evolutional algorithm for a... View full abstract»

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  • A study on static and dynamic path planning for autonomous vehicle

    Publication Year: 1997, Page(s):22 - 27
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    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... View full abstract»

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  • A human interface for an intelligent mobile robot

    Publication Year: 1997, Page(s):194 - 199
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (716 KB)

    We propose that using the robot control based on situation assessment may lead to the realization of a truly user-friendly human-robot interface. Two aspects of user friendliness are addressed: ease of introducing domain-specific knowledge into the robot's memory in preparation of its actual operation, and ease of giving orders to the robot. Two abilities of the robot that result from the situatio... View full abstract»

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  • An adaptive spatio-temporal data management structure for efficient search

    Publication Year: 1997, Page(s):426 - 431
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    Deals with data management structures for efficient search for large scale spatio-temporal data. We propose the adaptive tree structure, in which either spatio data structure or temporal data structure is selected adaptively depending on the demand of search. This paper describes an outline of the proposed data structure for large scale spatio-temporal data. The data structure and its performance ... View full abstract»

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  • Knowledge projection on robot task environment

    Publication Year: 1997, Page(s):136 - 141
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    Robotics systems that coexist with humans must function safely and smoothly. The systems must exchange task information with people. We propose a “projection function” as the method of information exchange and discuss delivery by hand as an important example. The paper also reports on an experimental system we have designed and constructed View full abstract»

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  • About faults, errors, and other dangerous things

    Publication Year: 1997, Page(s):284 - 289
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    In this paper the traditional paradigm for learning and training of operators in complex systems is discussed and criticised. There is a strong influence coming from research carried out in artificial intelligence (AI). The most well known arguments against the AI-approach are presented and discussed in relation to expertise, intuition and implicit knowledge. The importance of faults and errors ar... View full abstract»

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  • Neuro-fuzzy control of a robot manipulator for a trajectory design

    Publication Year: 1997, Page(s):260 - 265
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    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 us... View full abstract»

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  • Evaluation of the entrainment between a speaker's burst-pause of speech and respiration and a listener's respiration in face-to-face communication

    Publication Year: 1997, Page(s):392 - 397
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    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 t... View full abstract»

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  • Analysis method without task model for interpreting human demonstration

    Publication Year: 1997, Page(s):206 - 211
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    Robots have been controlled by various methods. Teaching robot task from human demonstrations has been proposed to reduce robot programming cost. Some prototype systems showed that they are valid when task models are given in advance to analyze human demonstrations. Interpreting demonstration data without task dependent model is required to expand their applicability. This paper discusses the task... View full abstract»

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  • Extraction of a dynamic structure of biological signals as stochastic automata for a human-machine interface

    Publication Year: 1997, Page(s):438 - 441
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    Concerning a human-machine interface, we investigate a method to extract the dynamical structure from biological signals. Applying the ε-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 com... View full abstract»

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  • Some experiences with three-dimensional display design: an air traffic control visualisation

    Publication Year: 1997, Page(s):296 - 301
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    This paper discusses some of the experiences of designing and using 3D displays encountered during a study which explored the suitability of such displays for air traffic control. Experiments were carried out to compare the performance of subjects using two 3D displays of air traffic and a 2D display. The results largely supported cognitive studies, for example regarding improvements in task perfo... View full abstract»

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  • Human simulating intelligent control and its application to swinging-up of cart-pendulum

    Publication Year: 1997, Page(s):218 - 223
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    On the basis of the human simulating intelligent control (HSIC) proposed by the author this paper discusses the swinging-up control of cart-pendulum. The theoretical analysis and simulation results have verified the universal validity of the HSIC theory which aims at the emulating human “motor sensory preview intelligence” for the nonlinear system such as cart-pendulum, walking robots,... View full abstract»

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