In this paper, the authors establish a structured environment, in which environment knowledge is not only given to the visible robot that serves to people but also to the environment itself. It aims to provide services efficiently by using the visible robot and to construct a general system that information can be shared with the other robots. Through the experiment, it succeeded in constructin...

A robotic arm automatically guidedto handle the camera in laparoscopic surgery is presented. The goal of this work is to generate the adequate camera control strategies to track the working scene during a surgical procedure. The system is based on the computer vision analysis of the laparoscopic image that allows to identi& either a scene's relevant point, or the surgical instruments.

Earlier theorizing suggested that an (artificial) agent that combines persuasive strategies will be more persuasive. Therefore, the current research investigated whether a robot that uses two persuasive strategies is more persuasive than a robot that uses only one. Two crucial persuasive strategies that humans use in face-to-face persuasion are gazing and gestures, and therefore we studied the ...

4 アブストラクト 脳と機械間で直接相互作用させる BMI(Brain-Machine Interface)は身体障害者の生活の質を改善する目的とし て大変有効な手段である.本研究では,被験者にメンタルタスクを課すことでロボットアームを制御する BMIを 構築した.本実験で用いるメンタルタスクは4つであり,これら4つのタスク識別率は最も高い時で 70% に達し た.実験では,これらのメンタルタスクを規定通りの順番で課す事により,ロボットアームをワークスペース上の 4つの地点に移動させる.本実験では,被験者には予め予備実験で練習を行ってもらい,その後,実験を行った. 結果として,リアルタイムで被験者はロボットアームを制御することができ,さらにシステム改善後はアームで 物を掴み移動させるといった,より複雑な作業も行うことが出来た.これらのインターフェイスは実社会の身体 障害者へのリハビリ...

This paper describes the Robotic Taishogoto, a new robotic musical instrument for performance, musical installations, and educational purposes. The primary goals of its creation are to provide an easy to use, cost effective, compact and integrated acoustic instrument which is fully automated and controllable via standard MIDI commands. This paper describes the technical details of its design an...

A simulation model for a two degrees of freedom industrial manipulator where an accelerometer is attached to the robot arm is presented. An overview of the kinematic and dynamic models as well as a thorough description of the accelerometer model are given. The simulation model can be run with di erent types of properties, e.g. model errors and disturbances. Di erent types of suggested simulatio...

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often specific to the characteristics of the simulator. Due to modeling error, strategies that are successful in simulation may not transfer to their real world counterpa...

We extend the standard de nition of manipulability to the case of a nonholonomic mobile manipulator built from an n joint robotic arm and a nonholonomic mobile platform. The e ects of mounting the arm on a nonholonomic platform are shown through the analysis of the manipulability thus de ned. Applications of criteria inherited from manipulability considerations are given to justify design and t...

Brain-machine interfaces can greatly improve the performance of prosthetics. Utilizing biomimetic neuronal modeling in brain machine interfaces (BMI) offers the possibility of providing naturalistic motor-control algorithms for control of a robotic limb. This will allow finer control of a robot, while also giving us new tools to better understand the brain's use of electrical signals. However, ...