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In this study, we developed a wall-climbing robot for airplane body inspection. To move on airplane body, the robot needs to move on walls and curved surfaces. A traveling-wave-type, omnidirectional wall-climbing robot that uses magnetic force to adhere could move on such a wall and curved surface. However, magnetic force cannot be used to adhere to airplane body. Therefore, we developed a wall-climbing...
We aim to create a novel prototype linear actuator with new structure applying an ER (Electro-Rheological) gel, a recent functional material. The actuator will be an all-purpose actuator satisfying characteristics for human-coexistence application. Such actuators for the application need large generative force, high speed response, good controllability, high safety, low friction, backdriveability...
This paper describes a robotic agent that can promote communication when people first meet. When two people meet for the first time, a communication mediator can be important because people often feel stressed and cannot talk comfortably. Our agent reduces their stress by using embodied entrainment and thus promotes communication. In the research field of embodied entrainment, suitable timing of a...
Gestures are useful factor in communication. A gesture has different meanings depending on related objects, situation and so on. Authors aim that a robot recognizes gesture meanings and provides a service considering related objects. Object position is one of the important factors for a robot to recognize a gesture. This paper focused on multimodal interaction between human and a robot to obtain object...
This paper describes a novel approach that can be used to determine the focal object that a robot is looking at and introduces the unique robotic eye, AttractiveEye. Humans have the visual input mechanism but do not have the output mechanism concerning the visual signal except gestures. AttractiveEye can communicate information regarding the color of an object by changing its color to match that of...
This paper describes a telescopic-arm type, climbing support robot. Although there are various kinds of wall climbing robots, there is a possibility that they may fall, due to the wall concavity/convexity or insufficient adhesion. To solve this problem, we developed the wall climbing support robot, which uses a telescopic-arm to support the climbing robot. The telescopic are includes a joint with...
In order to operate a robot, various devices are proposed such as a joystick, a master-slave arm, and keyboard. However, these devices have problems such as response speed. Instead of these devices, biosignal such as myoelectric signal is used as an interface between human and machine. The myoelectric signal represents the forces generated by muscle. In this paper, we propose to use the myoelectric...
We propose a new method of recommending preferable solutions of a user in interactive reinforcement learning. Interactive reinforcement learning is different from normal reinforcement learning in that a human gives the reward function to the learner interactively. It is that the reward function may not be fixed for the learner if an end-user changes his mind or his preference. However, most of previous...
In this research, the environmental information interface where the person is kept is constructed as virtual-city separately for the phase corresponding to the scale. In addition, the installation of the marker etc. achieves the instruction by the gesture in natural shape without the necessity for the interface. The recognition speed and accuracy are shown to improve as results by using the vision...
In this research, authors proposed gesture recognition using vision board (developed in NEDO project) and virtual-city which is divided along phases corresponding to the scale. Various electronics system is used in dairy life. However, it is hard to use intuitively these systems. Authors focused on gestural interaction communication between user and system. Authors developed gesture recognition system...
The common robot communication platform and the robot services using Web Services are gaining acceptance. Since multi-vendor/multi-implementation environments are popular, a standard specification of these and their interoperability are critical requirements. Reliable messaging - one of the key technologies to deploy such Web Services based systems - has been standardized recently. However, interoperability/conformance...
This paper presents interactive system using indicating motion which is used in human communication. Gesture motion has different means according to circumstances. Human recognize other personpsilas intention or attending points from gesture, face direction, situation and so on. Authors has researched gesture recognition considering situation for natural interaction between human and robot. Moreover,...
The common robot communication platform using Web service is well accepted and becoming popular gradually. One of the key components for robot communication platform is the reliable messaging which provides reliable high performance message transfer. Both conforming to standard specifications and interoperability among multiple implementations are critical requirements for the platform, because different...
This paper presents a gestual interaction system between human and robot using pointing movement based on 'humatronics'. The virtual room, which was based on physical room, can be shown an attended object with blinking. A user pointed out an object, which he/she wants to move. The robot moves to an indicated point, or moves an indicated object to point in physical room. Moreover, to interact at physical...
We propose a new method of preparing various policies to distinguish main rewards from temporal rewards toward the interactive reinforcement learning method in which reward functions are given incrementally from an initial state to the goal state. Shaping is the theoretical framework of interactive reinforcement learning. Most previous shaping researches assume shaping reward function that is monotonic...
In this paper, we propose adaptive control of robotic embodied entrainment to multi communication participants. That is based on communication activity measurement, and uses interaction timing learning which depends on nonverbal communication channels. Our mechanism selects an appropriate embodied robotic behavior, and increases the communication activity by changes of a speaker and a listener. For...
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