Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892480
N. Kouda, N. Matsui, H. Nishimura
Concerns the use of quantum computer methods to develop a distributed and strongly connectionist system that achieves parallel and fast information processing. We have proposed a qubit-like neuron model based on quantum mechanics and constructed the quantum backpropagation learning rule (QBP). In this paper, we show our improved QBP neural network model and discuss its performance on solving the 4 bit parity check problem, the function and the gray-scale pattern identification problem. Then, we find our model is more excellent than the conventional one in information processing efficiency.
{"title":"Learning performance of neuron model based on quantum superposition","authors":"N. Kouda, N. Matsui, H. Nishimura","doi":"10.1109/ROMAN.2000.892480","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892480","url":null,"abstract":"Concerns the use of quantum computer methods to develop a distributed and strongly connectionist system that achieves parallel and fast information processing. We have proposed a qubit-like neuron model based on quantum mechanics and constructed the quantum backpropagation learning rule (QBP). In this paper, we show our improved QBP neural network model and discuss its performance on solving the 4 bit parity check problem, the function and the gray-scale pattern identification problem. Then, we find our model is more excellent than the conventional one in information processing efficiency.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126627597","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}
Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892509
S. Kajikawa, E. Ishikawa
In the future, there will be many cases where robots should perform cooperative tasks with humans in daily life. We focus on a hand-over motion as an example of cooperative work between a human and a robot, and propose an algorithm which enables a robot to perform a human-like motion. First we analyze trajectories and velocity patterns of a hand-over motion performed by two humans. From this experimental results we notice that a receiver's motion, during hand-over has some typical characteristics. We then confirm that a human-like motion can be generated using these characteristics. Finally, we plan the robot's motion considering these results. Initially, two kinds of potential fields are used to generate a motion command which leads the robot along a trajectory similar to that followed by the human. In addition, more precise motion is considered at the end of the hand-over operation to guarantee accurate positioning and to soften the shock of contact. Experimental results using 2-link planar robot arm show the validity of the proposed method.
{"title":"Trajectory planning for hand-over between human and robot","authors":"S. Kajikawa, E. Ishikawa","doi":"10.1109/ROMAN.2000.892509","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892509","url":null,"abstract":"In the future, there will be many cases where robots should perform cooperative tasks with humans in daily life. We focus on a hand-over motion as an example of cooperative work between a human and a robot, and propose an algorithm which enables a robot to perform a human-like motion. First we analyze trajectories and velocity patterns of a hand-over motion performed by two humans. From this experimental results we notice that a receiver's motion, during hand-over has some typical characteristics. We then confirm that a human-like motion can be generated using these characteristics. Finally, we plan the robot's motion considering these results. Initially, two kinds of potential fields are used to generate a motion command which leads the robot along a trajectory similar to that followed by the human. In addition, more precise motion is considered at the end of the hand-over operation to guarantee accurate positioning and to soften the shock of contact. Experimental results using 2-link planar robot arm show the validity of the proposed method.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126072402","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}
Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892483
M. Matsumoto, Etsuo Iwaya
Structural uncertainties given by intervals are studied within a finite element formulation to determine sharp bounds for the quantities of displacement response. In order to obtain the sharp solution as much as possible, two approaches are proposed here: the interval finite element approach and the optimization approach in which both of displacement and structural uncertainties are variables. Those are applied to the analysis of simple truss structure models with uncertainties of nodal coordinates.
{"title":"Interval finite element analysis to structural systems","authors":"M. Matsumoto, Etsuo Iwaya","doi":"10.1109/ROMAN.2000.892483","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892483","url":null,"abstract":"Structural uncertainties given by intervals are studied within a finite element formulation to determine sharp bounds for the quantities of displacement response. In order to obtain the sharp solution as much as possible, two approaches are proposed here: the interval finite element approach and the optimization approach in which both of displacement and structural uncertainties are variables. Those are applied to the analysis of simple truss structure models with uncertainties of nodal coordinates.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"68 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133239738","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}
Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892468
Satoru Odo, K. Hoshino
Human vision has two areas: one is fovea centralis which is located at the center of visual axis and has high resolution, and the other is the peripheral where the resolution decreases according to the distance from the fovea. This relationship between distance and visual resolution is known as the log polar mapping, which realizes two different functions in central and peripheral visions, respectively. The object is focused and recognized with high resolution in the central vision, but the area is small. However, the objects in a large area are roughly recognized in peripheral vision, with low resolution. We propose the new method of target tracking with log polar mapping adapted to sequential image and with moving-area extraction through the optical flow obtained by the difference image method and generalized gradient-based method. Through our system, the target tracking is realized with high resolution, during short period of processing time, with data processing reduced.
{"title":"Real time object tracking based on retino-cortical mapping","authors":"Satoru Odo, K. Hoshino","doi":"10.1109/ROMAN.2000.892468","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892468","url":null,"abstract":"Human vision has two areas: one is fovea centralis which is located at the center of visual axis and has high resolution, and the other is the peripheral where the resolution decreases according to the distance from the fovea. This relationship between distance and visual resolution is known as the log polar mapping, which realizes two different functions in central and peripheral visions, respectively. The object is focused and recognized with high resolution in the central vision, but the area is small. However, the objects in a large area are roughly recognized in peripheral vision, with low resolution. We propose the new method of target tracking with log polar mapping adapted to sequential image and with moving-area extraction through the optical flow obtained by the difference image method and generalized gradient-based method. Through our system, the target tracking is realized with high resolution, during short period of processing time, with data processing reduced.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132600043","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}
Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892478
M. Matsuura, M. Wada
The purpose of this paper is to propose a control system which enables a biped robot to walk sideways. The control system, named Formative Behavior Network (FBN), has a structure which consists of movement elements responding to sensory stimuli. We call each element a 'Behavior.' We do not arrange the number of Behaviors nor their parameters beforehand. With appropriate rewards for actions of the robot, the FBN is able to learn to achieve the task even if no Behavior exists at first. In the simulations, the robot implemented with the FBN learned to walk and showed its adaptability to a change of the robot model, such as lengthening its legs. Based on these results, an application to the experimental biped robot also succeeded in the real environment.
{"title":"Formative behavior network for a biped robot; a control system in consideration of motor development","authors":"M. Matsuura, M. Wada","doi":"10.1109/ROMAN.2000.892478","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892478","url":null,"abstract":"The purpose of this paper is to propose a control system which enables a biped robot to walk sideways. The control system, named Formative Behavior Network (FBN), has a structure which consists of movement elements responding to sensory stimuli. We call each element a 'Behavior.' We do not arrange the number of Behaviors nor their parameters beforehand. With appropriate rewards for actions of the robot, the FBN is able to learn to achieve the task even if no Behavior exists at first. In the simulations, the robot implemented with the FBN learned to walk and showed its adaptability to a change of the robot model, such as lengthening its legs. Based on these results, an application to the experimental biped robot also succeeded in the real environment.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125599238","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}
Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892643
H. Kobayashi, K. Igawa, T. Bito, K. Kikuchi
In order to develop human friendly robots, we develop a robotic system with a vision system, robot arm and voice recognition system, capable of grasping an object for which a human asks by voice. In this paper we present the 3D object recognition method by silhouette images in the first place. We propose the method to construct 3D object models by silhouette images and use them for making templates in order to undertake the template matching for 3D object recognition by silhouette images. We find that very high correct recognition rate is achieved by this method. We then employ a 4-DOF robot arm with a gripper for grasping the object. We present the method to approach and grasp the object by cooperating with the movement of arm and image obtained from the camera mounted on the tip of the arm. The experiment shows that recognition of the object, approach and grasping it are well undertaken.
{"title":"3D object recognition and grasping for human support robotic system","authors":"H. Kobayashi, K. Igawa, T. Bito, K. Kikuchi","doi":"10.1109/ROMAN.2000.892643","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892643","url":null,"abstract":"In order to develop human friendly robots, we develop a robotic system with a vision system, robot arm and voice recognition system, capable of grasping an object for which a human asks by voice. In this paper we present the 3D object recognition method by silhouette images in the first place. We propose the method to construct 3D object models by silhouette images and use them for making templates in order to undertake the template matching for 3D object recognition by silhouette images. We find that very high correct recognition rate is achieved by this method. We then employ a 4-DOF robot arm with a gripper for grasping the object. We present the method to approach and grasp the object by cooperating with the movement of arm and image obtained from the camera mounted on the tip of the arm. The experiment shows that recognition of the object, approach and grasping it are well undertaken.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116653242","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}
Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892500
T. Oshima, T. Fujikawa, O. Kameyama, M. Kumamoto
We propose an introduction of a muscle coordinate system consisting of the bi-articular muscles as well as the mono-articular muscles instead of a conventional joint coordinate system consisting of only the mono-articular muscles without the bi-articular muscles to discuss an interface between man and machine. The output force distribution developed at the wrist joint of the human arm under isometric and maximal effort conditions demonstrates a hexagonal shape. Since complex muscle arrangements of the human arm could be simplified into one antagonistic pair of the bi-articular muscles and two antagonistic pairs of the mono-articular muscles (functionally effective muscular strengths), a robot arm provided with three pairs of muscles was built. The robot arm operated with the muscle coordinate system demonstrated hexagonal shape output force distributions. Whereas, the robot arm operated with the joint coordinate system showed quadrangular output force distributions. A characteristic of the hexagonal force distribution made it possible to evaluate individual functionally effective muscular strengths from the human arm output force distribution. The results obtained here will lead a new virtual human model to be more realistic than the conventional model operated with the joint coordinate system. The idea will also be useful for a human-friendly robot.
{"title":"Robotic analyses of output force distribution developed by human limbs","authors":"T. Oshima, T. Fujikawa, O. Kameyama, M. Kumamoto","doi":"10.1109/ROMAN.2000.892500","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892500","url":null,"abstract":"We propose an introduction of a muscle coordinate system consisting of the bi-articular muscles as well as the mono-articular muscles instead of a conventional joint coordinate system consisting of only the mono-articular muscles without the bi-articular muscles to discuss an interface between man and machine. The output force distribution developed at the wrist joint of the human arm under isometric and maximal effort conditions demonstrates a hexagonal shape. Since complex muscle arrangements of the human arm could be simplified into one antagonistic pair of the bi-articular muscles and two antagonistic pairs of the mono-articular muscles (functionally effective muscular strengths), a robot arm provided with three pairs of muscles was built. The robot arm operated with the muscle coordinate system demonstrated hexagonal shape output force distributions. Whereas, the robot arm operated with the joint coordinate system showed quadrangular output force distributions. A characteristic of the hexagonal force distribution made it possible to evaluate individual functionally effective muscular strengths from the human arm output force distribution. The results obtained here will lead a new virtual human model to be more realistic than the conventional model operated with the joint coordinate system. The idea will also be useful for a human-friendly robot.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121624424","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}
Pub Date : 2000-06-28DOI: 10.1109/ROMAN.2000.892508
R. Ikeura, Y. Kawakita, M. Ito, K. Mizutani
Describes about a notification method of robotic arm motion for suppressing threats to humans. The method is evaluated subjectively and the effectiveness is shown. Firstly, it is found that an optimal time for the notification was about one second. Secondly, the effect of several informations for the notification is investigated and the effectiveness is verified. Finally, a threat against the arm configuration is investigated and it is shown that it depends on the number of the moving joints.
{"title":"Previous notice method of robotic arm motion for suppressing threat to human","authors":"R. Ikeura, Y. Kawakita, M. Ito, K. Mizutani","doi":"10.1109/ROMAN.2000.892508","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892508","url":null,"abstract":"Describes about a notification method of robotic arm motion for suppressing threats to humans. The method is evaluated subjectively and the effectiveness is shown. Firstly, it is found that an optimal time for the notification was about one second. Secondly, the effect of several informations for the notification is investigated and the effectiveness is verified. Finally, a threat against the arm configuration is investigated and it is shown that it depends on the number of the moving joints.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131036696","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}
Pub Date : 1999-10-01DOI: 10.1109/ROMAN.2000.892638
A. Otsuka, T. Tsuji, O. Fukuda, M. Eisemann Shimizu, M. Sakawa
The purpose of the paper was to introduce an internally powered functional prosthetic hand with a voluntary closing function, which was developed by using robot manipulator technology. From electromyographic and three dimensional analyses of human grasping movements, we found that, if the wrist joint is fixed and the thumb moves in a diagonal direction, the compensation of lifting the shoulder and elbow joints decreases. The experimental results demonstrate that the thumb movements of flexion and radial abduction play an important kinematic role in human grasping movements. Machinery for an internally powered functional prosthetic hand that can drive four fingers with two joints by a single cable is proposed. Tendon transmission in the machinery is useful for the hand to drive the finger joints. We suggest the following results; (1) the hand we developed has passive compliance, (2) and can grasp objects with a cross section of different diameters.
{"title":"Development of an internally powered functional prosthetic hand with a voluntary closing system and thumb flexion and radial abduction-based on normal human grasping action","authors":"A. Otsuka, T. Tsuji, O. Fukuda, M. Eisemann Shimizu, M. Sakawa","doi":"10.1109/ROMAN.2000.892638","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892638","url":null,"abstract":"The purpose of the paper was to introduce an internally powered functional prosthetic hand with a voluntary closing function, which was developed by using robot manipulator technology. From electromyographic and three dimensional analyses of human grasping movements, we found that, if the wrist joint is fixed and the thumb moves in a diagonal direction, the compensation of lifting the shoulder and elbow joints decreases. The experimental results demonstrate that the thumb movements of flexion and radial abduction play an important kinematic role in human grasping movements. Machinery for an internally powered functional prosthetic hand that can drive four fingers with two joints by a single cable is proposed. Tendon transmission in the machinery is useful for the hand to drive the finger joints. We suggest the following results; (1) the hand we developed has passive compliance, (2) and can grasp objects with a cross section of different diameters.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115157579","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}
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