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1 - (20 ) Tel: Fax: hase@hi.pi.titech.ac.jp Tel: Fax: Tel: Tel: P 1 16

2 - (20 ) 400 () 3DCG No.51 No.61 No.62 No.11 P 2 16

3 No.206 No.209 No.104 Tel/Fax/ TEL TEL P 3 16

4 P DCG 3DCG 1997 [9][10] 2003 [1][4] [11][12] ( ) ( 1)

5 まず対象を注視し, 2. 物体を把持し, 3. 目標位置を注視し, 4. 物体を目標位置に移動する. 物体の移動という指令から, 動力学モデルと最適化によって, 2,4の動作は生成できる.しかし,1.3.の動作を自動的に生成するためには感覚モデルが必要となる. 1 [13] Yamane [14] Natural Motion [15] Funge [16] P 5 16

6 P 6 16 Funge Gutierrez [17] [18] () 3DCG 3DCG 3DCG

Vestibular nucleus 4 Mi dline Type I n eur on s Type II ne uro ns 5 6 VPFL DLPN 3 MT & MST Visua l cortex LGN 8 MLF 9 Chiasma opticum 11 7 12 10 Oculomotor nucleus Abducens nucleus VPFL DLPN MT &

7 Vestibular nucleus 4 Mi dline Type I n eur on s Type II ne uro ns 5 6 VPFL DLPN 3 MT & MST Visua l cortex LGN 8 MLF 9 Chiasma opticum Oculomotor nucleus Abducens nucleus VPFL DLPN MT & Visua l MST cortex LG N 13 Temporal retina 1 Medial rectus Nasal retina 2 optical axis Lateral rectus ( 2) 聴覚モデル視覚モデル前庭感覚モデル眼球運動頭部運動脚移動バランス到達運動感覚神経運動系モデルを持つバーチャルクリーチャー触覚モデルプログラム光音力ゲームクリエータプログラム物理シミュレーションされたバーチャル環境ユーザ映像音声力覚インタフェース 2 Springhead[11]() Springhead 4 足歩行ロボットバーチャルヒューマン昆虫とブロック 3 Springhead P 7 16

Lateral rectus ( 2) 聴覚モデル視覚モデル前庭感覚モデル眼球運動頭部運動 5 6 8 脚移動バランス到達運動感覚神経運動系モデルを持つバーチャルクリーチャー触覚モデルプログラム光音力

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12 - [1] Shoichi Hasegawa, Makoto Sato: `Real-time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects', Computer Graphics Forum Vol. 23 Issue 3 (Proc. of EUROGRAPHICS 2004) () [2],,, : ` ',, Vol.22, No.5, (2004) () [3] :`, IGDA CEDEC 2004 () (2004) [4],,,, : ` ',, Vol.40, No.2, , (2004) [5],,,,, ` Reactive Motion Capture System Design using a Haptic Display ',, Vol.57 No.12, pp , (2003) [6],, : ` ',, Vol.7, No.3, (2002) [7],,, : ` ', D-II, Vol.J82-D-II, No.10, , (1999) [8] Shoichi Hasegawa, Masahiro Ishii, Yasuharu Koike, Makoto Sato: `Inter-Process Communicaton for Force Display of Dynamic Virtual World', Proc. of the ASME-Dynamic Systems and Control Division-1999, , ( ) P 12 16

2, 122-131, (2004) [5],,,,, ` Reactive Motion Capture System Design using a Haptic Display ',, Vol.57 No.12, pp 1727-1732, (2003) [6],, : ` ',, Vol.7, No.3, 323-328 (2002) [7],,, : ` ', D-II, Vol.

13 [9] Makoto Sato: `Virtual Basketball, SIGGRAPH 97 Electric Garden Project, (1997) [10] : `,, 7, [4], (2002) [11] Shoichi Hasegawa, Naoki Okada, Jiro Baba, Yuichi Tazaki, Hiroshi Ichikawa, Akihiko Shirai, Yasuharu Koike, Makoto Sato: `Springhead: Open source haptic software for virtual worlds with dynamics simulations, Proceedings of EuroHaptics2004, , (2004), [12],,, :`Dynamo: VR SPRINGHEAD, DiVA, (2003.5) [13],,,, : `,, vol.103 No.165, pp49-53, (2003.7) [14] K. Yamane and Y. Nakamura: "Dynamics Filter - Concept and Implementation of On-line Motion Generator for Human Figures," IEEE Transactions on Robotics and Automation, vol.19, no.3, pp , [15] Natural Motion: ` endorphin 1.5, [16] John Funge, Xiaoyuan Tu, Demetri Terzopoulos: `Cognitive Modeling: Knowledge, Reasoning and Planning for Intelligent Characters, Proc. SIGGRAPH 99, (1999.8) [17] M. Gutierrez, F. Vexo, D. Thalmann, `Reflex Movements for a Virtual Human: a Biology Inspired Approach. Proc. 3rd Hellenic Conference on Artificial Intelligence, Special Session on Intelligent Virtual Environments (SETN 2004), May 2004, pp [18],, :`', Vol.42 No.06, (2001) [19] ` Vol.20, No.1, (2001.1) P 13 16

info/ [12],,, :`Dynamo: VR SPRINGHEAD, DiVA, (2003.5) [13],,,, : `,, vol.103 No.165, pp49-53, (2003.7) [14] K. Yamane and Y.

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