橡上野先生訂正2

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くにもとあわたけ
5 years ago
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1 (SIS) NII) tel

2 NII 2

3 (symbiosis) 2 (parasitism) 2 Knowledge Creation The Symbiotic partnership of University, Government and Industry, Proc. Information Environment and International Cooperation for the 21 st Century, 3

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10 New AI-based approach Concepts Words Knowledge-based world (knowledge modeling) Tasks Actions Sensors Sensor-based world (behavior modeling) Hierarchy of abstraction in robotic control. There is a black cup, a red cup and a white tray on a table. And, the black cup is in front of the red cup, and... To achieve a request, Reach, hold, lift, move, put, and... A human s way of understanding a scene and scheduling a task sequence in his mind with words for Put a red cup on a tray. 10

11 A whole view of the human-type robot arm HARIS. 178 tactile sensors are installed on the surfaces of fingers. 11

grip grasp nip Pinch Four holding types by the HARIS

scheduling and robotic hand control, Object holding

patterns: - grasp (tsukamu) with five fingers, - grip

or three fingers, - pinch (tsumamu) with two or three

12 grip grasp nip Pinch Four holding types by the HARIS hand. In order to simplify both task and motion scheduling and robotic hand control, Object holding types are standardized to Five typical holding patterns: - grasp (tsukamu) with five fingers, - grip (nigiru) with five fingers, - nip (hasamu) with two or three fingers, - pinch (tsumamu) with two or three fingers, and - hook (tsurusu) with single, two or four fingers. 12

13 Z World Model Cup_2 Position (0 50 0) Posture (1 0 0) (0 1 0) (0 0 1) (on Cup_2 Desk) (above Cup_1 Tray) (hold hand Cup_1) (empty Cup_2) reach_vector Cup_1(0 0 1) X Y hand reach_vector Cup_1 Cup_2 Y Z X X Z Tray Y(0 50 0) Desk Y X Z An image of a scene and its description in the world model. Vision system Object understanding CCD Cameras World model (Knowledge Base) Shape model HARIS arm Distance measuring Functional model Robot interface Scene understanding Spatial model Command generator Monitor system Realtime image understanding Scheduling model Motion model Intelligent scheduler Motion Scheduling Task/Motion monitoring Task model Task scheduling User NL User interface Software architecture of the HARIS system 13

Functional model Scene understanding Spatial model Command generator Monitor system Realtime image

14 An experimental system using MoveMaster. Vision system Object understanding CCD Cameras World model (Knowledge Base) Shape model Distance measuring Functional model Scene understanding Spatial model Command generator Monitor system Realtime image understanding Scheduling model Motion model Intelligent scheduler Motion Scheduling Task/Motion monitoring Task model Task scheduling User NL User interface Software architecture of the HARIS system 14

Vision system Object understanding CCD Cameras World model (Knowledge Base) Shape model Distance measuring Functional model Scene understanding Spatial model Command generator Monitor system Realtime

15 Vision system Object understanding CCD Cameras World model (Knowledge Base) Shape model Distance measuring Functional model Scene understanding Spatial model Command generator Monitor system Realtime image understanding Scheduling model Motion model Intelligent scheduler Motion Scheduling Task/Motion monitoring Task model Task scheduling User NL User interface Software architecture of the HARIS system H11 MoveMaster Nomad) TV UNIX WS H12 COE COE H12 15

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SICE東北支部研究集会資料(2012年)

SICE東北支部研究集会資料(2012年) 77 (..3) 77- A study on disturbance compensation control of a wheeled inverted pendulum robot during arm manipulation using Extended State Observer Luis Canete Takuma Sato, Kenta Nagano,Luis Canete,Takayuki

橡上野先生訂正2

橡上野先生訂正2