Face Robot Research Articles

인공근육을 이용한 얼굴로봇

인공근육을 이용한 얼굴로봇

顔ロボットを用いた受付システムの開発(情緒・感性・身体性)

顔ロボットを用いた受付システムの開発(情緒・感性・身体性)

ヒューマノイドの転倒回復機能の実現

This paper presents a humanoid robot that has the same size as a human and that can lie down to the floor and get up from the floor with the robot face upward and downward. We believe that the robot is the first life-size humanoid robot with the capability. The motions are realized by the combination of novel hardware and software. The features of the hardware are a human-like proportion and joints with wide movable ranges including two waist joints. The software segments the motion into the sequence of the contact states between the robot and the floor and assigns an appropriate controller to each transition between the consecutive states. The experimental results are presented.

Dual-Schemata Model: Proposal of Self-Organizational Machine Learning Method for Autonomous Agetnts

In this paper, a new machine-learning method, called Dual-Schemata model, is presented. Dual-Schemata model is a kind of self-organizational machine learning methods for an autonomous robot interacting with an unknown dynamical environment. This is based on Piaget's Schema model, that is a classical psychological model to explain memory and cognitive development of human beings. Our Dual-Schemata model is developed as a computational model of Piaget's Schema model, especially focusing on sensori-motor developing period. This developmental process is characterized by a couple of two mutually-interacting dynamics; one is a dynamics formed by assimilation and accommodation, and the other dynamics is formed by equilibration and differentiation. By these dynamics schema system enables an agent to act well in a real world. This schema's differentiation process corresponds to a symbol formation process occurring within an autonomous agent when it interacts with an unknown, dynamically changing environment. Experiment results obtained from an autonomous facial robot in which our model is embedded are presented; an autonomous facial robot becomes able to chase a ball moving in various ways without any rewards nor teaching signals from outside. Moreover, emergence of concepts on the target movements within a robot is shown and discussed in terms of fuzzy logics on set-subset inclusive relationships.

123 顔型健康管理ロボットとネットワークを経由した遠隔操作

123 顔型健康管理ロボットとネットワークを経由した遠隔操作

2P2-L12 表情豊かな顔ロボットの開発

本論文は, エアーチューブアクチュエータを用いた顔ロボットの開発について報告致します。"幸福", "悲しみ", "怒り", "嫌悪", "恐怖", "驚き"の6つの表情を基本に, より人間に近い, 表情豊かな, 顔ロボットの開発を目的としています。

Study on Face Robot Platform as a KANSEI Medium

The objective of this study is to investigate the intelligence necessary for machines such as a humanfriendly robot working in the environment where human and robot coexist. It seems to be required to manufacture the human-friendly robot that can communicate with human beings as a test bed and/or platform. Since face and facial expressions are very crucial factors for communication, we have been developing a face robot, which has a human-like face and can express facial expressions as similar as human being. The important factors of face robot for coexistence and communication with humans are 1. human size and compact, and 2. easy to control. While we have used air cylinders with pressurized air for the old face robot, to accomplish these two factors, we have decided to use a SMA (shaped memory alloy) actuators driven by electricity. In this paper, we present the prototype of SMA-actuated new face robot and show the basic ability.

Special Issue on Recent Advances in Robot Control

This special issue contains outstanding papers on robot control presented at international meetings in Japan in 2000. Featured topics include face robots, polishing robots, control for multifingered robotic hands, re configurable brachiating space robots, DD parallel robots, and robot control technologies such as a distributed robust motion controller, image-based visual servoing, fault adaptive kinematic control, and optimum control for a robot manipulator. We also will have a variety of topics such as shaft insert tasks in the robot task field, fingerprint image sensing in sensing technologies, compliance display, emergence of affective behavior, human/robot communication in interfaces, and workspace analysis of parallel manipulators in robot analysis. In preparing this special issue, we have asked authors to revise work presented at international meetings to include further analyses and experimental data to help make papers even more interesting and informative concerning the purposes of the study, analyses, experiments, and simulation. We thank Professor Kohei Ohnishi, Department of System Design Engineering, School of Science and Engineering, Keio University, for his complete, courteous assistance, and all of the authors who such unstinting time to update their papers for this special issue.

Robosoccer [mobile robotics experiment

This paper describes robosoccer, the latest experiment in robotics, and one that is growing in popularity on college campuses around the world. In robosoccer, two teams of boxy, wheeled robots face off against each other. A whistle blows and they spring into action, jostling for possession of a brightly colored golfball on a playing field the size ofa Ping-Pong table. Each team struggles to push the ball into the other team's goal located at the opposite end of the table. The author describes how the robots move fluidly and fluidly, constantly adjusting to the run of play in a surprisingly lifelike way.

1A1-K8 音声処理を利用する顔型ロボット健康管理システム(11. 医療・福祉ロボティクス・メカトロニクスII)

1A1-K8 音声処理を利用する顔型ロボット健康管理システム(11. 医療・福祉ロボティクス・メカトロニクスII)

Measuring and modeling facial affect.

In recent years, researchers in computer science and human-computer interaction have become increasingly interested in characterizing perception of facial affect. Ironically, this applied interest comes at a time when the classic findings on perception of human facial affect are being challenged in the psychological research literature, largely on methodological grounds. This paper first describes two experiments that empirically address Russell's methodological criticisms of the classic work on measuring "basic emotions," as well as his alternative approach toward modeling "facial affect space." Finally, a user study on affect in a prototype model of a robot face is reported; these results are compared with the human findings from Experiment 1. This work provides new data on measuring facial affect, while also demonstrating how basic and more applied research can mutually inform one another.

人間の教示特性に基づく顔ロボットの行動学習アルゴリズム

We have found a difficulty in the learning of a human-friendly behavior in a face robot by means of human instruction. The difficulty is mainly spotted at the learning algorithm of the robot not taking account of characteristics of human instruction. This paper suggests an effective learning algorithm constructed by the results obtained through analysing characteristics of human instruction, and evaluates its effectiveness by computer simulation and human-face robot interaction experiments.

Behavior learning of a face robot based on the characteristics of human instruction

Behavior learning of a face robot based on the characteristics of human instruction

Behavior learning of a face robot based on the characteristics of human instruction

(1998). Behavior learning of a face robot based on the characteristics of human instruction. Advanced Robotics: Vol. 13, No. 3, pp. 283-284.

State-of-the art in component technology for an animated face robot-its component technology development for interactive communication with humans

We are attempting to introduce a 3D, realistic human-like animated face robot to human-robot communication. The face robot can recognize human facial expressions as well as produce realistic facial...

アクティブ・ヒューマン・インタフェース（ＡＨＩ）のための顔ロボットの研究 顔ロボットの機構と６基本表情の表出

アクティブ・ヒューマン・インタフェース（ＡＨＩ）のための顔ロボットの研究 顔ロボットの機構と６基本表情の表出

Coordinate transformations and programming for small revolute-coordinate robots

In attempting to program a revolute-coordinate (arm-and-elbow) robot directly from data about required end-effector positions expressed in spatial (x, y, z) coordinates, users of smaller ‘teaching’ robots face a lack of information about the necessary transformation from spatial coordinates to joint coordinates. The purpose of this paper is to provide that information in the form of simplified trigonometrical expressions which, while not representing a completely general solution to all possible cases, nevertheless provide the solution for a large class of tasks to which small robots are commonly applied. Application of the algorithm to a Smart Arms 6E robot is described, and a summary of the interfacing and programming requirements is included.