Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892467
Y. Kubo, A. Ito, M. Kihara, S. Sugimoto
In this paper, a GPS positioning algorithm using the H/sub /spl infin// filter is presented. The algorithm is derived by combining the H/sub /spl infin// filter with the LAMBDA (least squares ambiguity decorrelation adjustment) method which can efficiently solve an integer least squares problem. In the H/sub /spl infin// filtering, the filter performance strongly depends on the design parameter "/spl gamma/", so that the choice of the value of "/spl gamma/" is very important. After briefly reviewing the H/sub /spl infin// filter, we also propose a simple algorithm that gives adequate value of "/spl gamma/". Finally, the proposed algorithm is examined by using the real receiver data which were obtained at two static points.
{"title":"Carrier phase GPS positioning and ambiguity resolution by using H/sub /spl infin// filters","authors":"Y. Kubo, A. Ito, M. Kihara, S. Sugimoto","doi":"10.1109/ROMAN.2000.892467","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892467","url":null,"abstract":"In this paper, a GPS positioning algorithm using the H/sub /spl infin// filter is presented. The algorithm is derived by combining the H/sub /spl infin// filter with the LAMBDA (least squares ambiguity decorrelation adjustment) method which can efficiently solve an integer least squares problem. In the H/sub /spl infin// filtering, the filter performance strongly depends on the design parameter \"/spl gamma/\", so that the choice of the value of \"/spl gamma/\" is very important. After briefly reviewing the H/sub /spl infin// filter, we also propose a simple algorithm that gives adequate value of \"/spl gamma/\". Finally, the proposed algorithm is examined by using the real receiver data which were obtained at two static points.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"50 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":"124111170","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.2000.892527
J. Escribano, C. Cerrada, S.R. Gomez, J. A. Cerrada
Virtual environments used as human machine interface in teleoperated systems can be substantially improved, by adding resources devoted to increase 3D perception of the virtual scene. Monoscopic displays are a way of optimizing resources because they show better quality images and they are lower cost in computing time than other graphic systems. In this paper, we demonstrate that monoscopic displays can be competitive versus stereo vision in performance, by adding projected shadows to the first.
{"title":"Stereo vision vs. projected shadows in performance evaluation of teleoperated systems","authors":"J. Escribano, C. Cerrada, S.R. Gomez, J. A. Cerrada","doi":"10.1109/ROMAN.2000.892527","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892527","url":null,"abstract":"Virtual environments used as human machine interface in teleoperated systems can be substantially improved, by adding resources devoted to increase 3D perception of the virtual scene. Monoscopic displays are a way of optimizing resources because they show better quality images and they are lower cost in computing time than other graphic systems. In this paper, we demonstrate that monoscopic displays can be competitive versus stereo vision in performance, by adding projected shadows to the first.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"123 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":"114317322","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.2000.892483
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.2000.892478
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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