| Project/Area Number |
08455186
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
System engineering
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| Research Institution | Osaka University |
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Principal Investigator |
MIYAZAKI Fumio Osaka Univ., DEPT.of CHEM.SCI.ENG,Professor, 大学院・基礎工学研究科, 教授 (20133142)
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| Co-Investigator(Kenkyū-buntansha) |
NISHIKAWA Atsushi Osaka Univ., DEPT.of CHEM.SCI.ENG,Assistant, 大学院・基礎工学研究科, 助手 (20283731)
JOO Sangwan Osaka Univ., DEPT.of CHEM.SCI.ENG,Assistant, 大学院・基礎工学研究科, 助手 (70273604)
MASUTANI Yasuhiro Osaka Univ., DEPT.of CHEM.SCI.ENG,Lectrer, 大学院・基礎工学研究科, 講師 (80219328)
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| Project Period (FY) |
1996 – 1997
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| Project Status |
Completed (Fiscal Year 1997)
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| Budget Amount *help |
¥7,300,000 (Direct Cost: ¥7,300,000)
Fiscal Year 1997: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1996: ¥6,600,000 (Direct Cost: ¥6,600,000)
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| Keywords | Robotics / stereo vision / active vision / visual servoing / binocular visual space / hand-eye system / learning / coaching / binoculas visual space / memory-based learning / inoerse mapping |
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| Research Abstract |
The aim of this research project is to understand the essential meaning of human motion, behavior, and skills based on the skill organizing mechanisms and modeling techniques obtained in the field of Robotics, and to apply it to human sciences and emgineerings, rehabilitation, and sport sciences.
As concerns "perception", we proposed a method of recovering surfaces by actively moving a stereo camera system like human beings. As for the connection between "perception" and "action", we proposed a simple visual servoing scheme based on the use of binocular visual space, a model of the binocularly-perceived space employed by physiologists and psychologists. A hand-eye system, which has a similar kinematic structure to a human being, makes it possible to generate joint velocities from image observations using a constant linear mapping.
We also investigated a system for coaching novice gymnasts in performing the kip based on detailed body information.
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