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システム/制御/情報 Vol. 16 (2003), No. 6

ISIJ International
belloff
オンライン版ISSN: 2185-811X
冊子版ISSN: 1342-5668
発行機関: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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システム/制御/情報 Vol. 16 (2003), No. 6

2本指ロボットを用いたセンソリーフィードバックによる動的安定把持および姿勢制御

田原 健二, 裴 芝薫, 有本 卓

pp. 253-259

DOI:

10.5687/iscie.16.253

抄録

This paper firstly shows Lagrange's equation of a pair of robot fingers with hemishperical tips pinching a rigid object under four geometric constraints. In derivation of the equation, it is assumed that the rigid object has two parallel flat surfaces, motion of the overall system is confined to a horizontal plane and the effect of gravity is ignored. It is then shown that there exists a sensory feedback signal not only for secure pinching with the desired contact force but also for control the object orientation at a specified rotational angle. It is also shown that the method of computer simulation based on the non-linear differential equation with four geometric constraints is discussed together with presenting some computational results.

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2本指ロボットを用いたセンソリーフィードバックによる動的安定把持および姿勢制御

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Ris

発話理解学習を利用した適応的インターフェイス

小松 孝徳, 鈴木 健太郎, 植田 一博, 開 一夫, 岡 夏樹

pp. 260-269

DOI:

10.5687/iscie.16.260

抄録

The purpose of this study is to propose a speech meaning acquisition model, which can be applied for an adaptive interface system, from a perspective of human-human communication establishment process. The model was designed to discriminate the types of instructions based on salient prosodic features and to recognize the given instructions using a positive reward (given for its successful action) and a negative reward (from the utterance of a instructor which draws listener's attention). As a result of a test, this model could eventually learn to recognize the given instruction from an actual human instructor. It is expected that the constructed meaning acquisition model can be applied for an adaptive interface system, which provides a natural interaction environment for its user.

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発話理解学習を利用した適応的インターフェイス

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複合現実感によるデザイン画彩色支援システム

柳川 由紀子, 堀井 千夏, 和田 洋貴, 佐藤 宏介

pp. 270-278

DOI:

10.5687/iscie.16.270

抄録

An artistic working sometimes makes unexpected and great works of art due to sensitivity interaction with another artist. We focus on designing coloration, and creating a new artistic support system which enhances the synergy effect in a cooperative interaction with a computer. First, we define a psychological model for designer's synergetic process, and we clear users' behaviors referring to other's coloration. Then, we construct an intelligent support system based on this model, which displays efficient and inspiring reference images for user's idea on a mixed reality display. It provides a virtual coloration on a real art works and combines them in mixed reality space without special head gears disturbing the art working. The proposed system expects that it helps to give rise to synergy effects of users by themselves.

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複合現実感によるデザイン画彩色支援システム

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対話的進化ロボティクスの観測に基づく教示の設計

片上 大輔, 山田 誠二

pp. 279-286

DOI:

10.5687/iscie.16.279

抄録

In this paper, we describe a fast learning method for a mobile robot which acquires autonomous behaviors from interaction between an operator and a robot. We develop a behavior learning method ICS (Interactive Classifier System) using interactive evolutionary computation regard for the teaching cost and a mobile robot is able to quickly learn rules so that an operator can directly teach a physical robot. Also the ICS is a novel evolutionary robotics approach using an adaptive classifier system. We classify teaching methods as internal observation (Learner View) and external one (Teacher View) from viewpoints of obsevation, and investigate relationship between observation methods and the results. We have two experiments based on our teaching methods on a real world.

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対話的進化ロボティクスの観測に基づく教示の設計

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視覚障害者のための状況推定を導入した電子白杖の構築

村上 満佳子, 立石 敏隆, 井村 誠孝, 安室 喜弘, 黒田 知宏, 眞鍋 佳嗣, 千原 國宏

pp. 287-294

DOI:

10.5687/iscie.16.287

抄録

The Blind cannot detect some obstacles with a cane that is the most successful and widely used travel aid. This paper describes E-cane designed for the Blind to support their traveling by detecting such obstacles. Foregoing electric travel aids do not tell surroundings or obstacles, but just convert obtained data into certain signals such as vibration. E-cane presumes surroundings from obtained data and notify interpretation. This situation presumption mechanism understands surroundings as combinations of walls and floors. This wall/floor-strategy is designed for fast and robust processing. Experiment results show that the proposed system detects and notifies surroundings properly, therefore the Blind can walk more safely.

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視覚障害者のための状況推定を導入した電子白杖の構築

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3次元空間楽譜の構築

勝本 憲治, 吉田 悠一, 才脇 直樹, 西田 正吾

pp. 295-302

DOI:

10.5687/iscie.16.295

抄録

In this paper, we propose a spacial music score. Although many number of studies have been made on multimedia technology in the musical field over the past few decades, there is little attention to notation. The purpose of this paper is to construct more flexible and easily understandable visual music score for the music which is needed to be complicatedly controlled. The prototype system is developed for evalution, and it is confirmed that the user can make music easily by using the system.

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3次元空間楽譜の構築

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