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Sensory-Motor Fusion System Using High-Speed Sensor Feedbacks Based on Hierarchical, Integration Mode

Research Project

Project/Area Number 10305034
Research Category

Grant-in-Aid for Scientific Research (A).

Allocation TypeSingle-year Grants
Section一般
Research Field Measurement engineering
Research InstitutionThe University of Tokyo

Principal Investigator

ISHIKAWA Masatoshi  The University of Tokyo, Graduate School of Engineering, Department of Mathematical Engineering and information Physics, Professor, 大学院・工学系研究科, 教授 (40212857)

Co-Investigator(Kenkyū-buntansha) NAKANO Kaoru  Tokyo University of Technology, School of Engineering, Department of Mechatoronics, Professor, 工学部・機械制御工学科, 教授 (30010953)
ISHII Idaku  Tokyo University of Agriculture and Technology Faculty of Technology Department of Electrical and Electronic Engineering, Lecturer, 電気電子工学科, 講師 (40282686)
喜安 千弥  東京大学, 大学院・工学系研究科, 助手 (20234388)
藤村 貞夫  東京大学, 大学院・工学系研究科, 教授 (30010961)
Project Period (FY) 1998 – 2000
Project Status Completed (Fiscal Year 2000)
Budget Amount *help
¥28,700,000 (Direct Cost: ¥28,700,000)
Fiscal Year 2000: ¥7,900,000 (Direct Cost: ¥7,900,000)
Fiscal Year 1999: ¥9,700,000 (Direct Cost: ¥9,700,000)
Fiscal Year 1998: ¥11,100,000 (Direct Cost: ¥11,100,000)
KeywordsSensor Fusion / Active Sensing / Paraliel DSP System / Hierarchical Parallel Processing / Robot Cortrol / Human Interface / Multi-Model System / Sensory Integration / アクティブセンジング
Research Abstract

A human being acquires real world information using various kinds of external sensors. Then he executes hierarchical parallel distribution processing based on his brain and his neural network, finally giving appropriate orders to his actuators to achieve motion appropriate to his real world environment. In the engineering field, this process is called sensory-motor fusion that is first introduced by head investigator. It achieves interactive motion adaptable to changes in the environment in the real-time. This characteristic is very important in the real world system, and also should be realized on the practical level.
In this research we have developed a high-speed sensory-motor fusion system consisting of a multi-processor system, a massively parallel active vision, and a multi-fingered hand-arm. This 1ms sensory-motor fusion system has the following three features : (A) heterogeneous sensor fusion to process a multiple environments and hierarchical parallel processing architecture to perform multiple tasks, (B) 1ms high-speed visual and force feedback to deal with changes in the real world environment and (C) Active sensing methods to integrate sensing and actuating process. These features allow dynamic motion in the real world environment.
For the annual result of our research, on year 1998, we have developed a high-speed visual sensor feedback and designed a hierarchical and parallel processing system for them. On year 1999, we have realized a handling task by a manipulator and an active vision, and investigated the control methods and sensory fusion algorithms to achieve the interactive motion adaptable to unknown and changing environment. Finally on year 2000, we injected a haptic display device to the total sensory-motor fusion system and achieved consistent motion-with human actions and mechanical motions on the system in the real word environment.

Report

(4 results)
  • 2000 Annual Research Report   Final Research Report Summary
  • 1999 Annual Research Report
  • 1998 Annual Research Report
  • Research Products

    (30 results)

All Other

All Publications (30 results)

  • [Publications] 小室孝,鈴木伸介,石井抱,石川正俊: "汎用プロセッシングエレメントを用いた超並列・超高速ビジョンチップの設計"電子情報通信学会論文誌. D-I,Vol.181-D-I,No.2. 70-76 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] 大脇崇史,中坊嘉宏,並木明夫,石井抱,石川正俊: "視触覚モダリティ変換を用いたリアルタイム実環境仮想接触システム"電子情報通信学会論文誌. D-II,Vol.181-D-II,No.5. 918-924 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] T.Komuro,I.Ishii,M.Ishikawa: "General-purpose visionchip architecture for real-time machine vision"Advanced Robotics. Vol.12No.6. 619-627 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] 石井抱,石川正俊: "Imsビジュアルフィードバックシステムのための高速対象追跡アルゴリズム"日本ロボット学会誌. Vol.17No.2. 195-201 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] A.Namiki,Y.Nakabo,I..Ishii,M.Ishikawa: "Ims Sensory-Motor Fusion System"IEEE Transactions on Mechatoronics. Vol.15No.3. 244-252 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] 並木明夫,石川正俊: "視触覚フィードバックを用いた最適把握行動"日本ロボット学会誌. Vol.18No.2. 261-269 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa,Takash Komuro,Akio Namiki,Idaku Ishii: "Robotics Research (J.M.Hollerbach and D.E.Katitschek eds.)"Ims Sensory-Motor Fusion System. 6 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] T.Komuro, S.Suzuki, I.Ishii, MIshikawa: "Design of Missiycly, Paralle=Vision, Chip Using General-Purpose Processing Elements"The Transactions of the Institute of Electronics, Information and Communication Engineers D-I. Vol.J81-D-I,No.2. 70-76 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] T.Owaki, Y.Nokabo, A.Namiki, I.Ishii, M.Ishikawa: "Touching Objects in the Real World Using Modality Transformation from Images to Haptic Information"The Transactions of the Institute of Electronics, Information and communication Engineers D-II. Vol.J81-D-II,No.5. 918-924 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] T.Komuro, I.Ishii, M.Ishikawa: "General-purposs vision chip architecture for real-time machine vision"Advanced Robotics. Vol.12, No.6. 619-627 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] I.Ishii, M.Ishikawa: "High Speed Target Tracking Algorithm for 1ms Visual Feedback System"Journal of Kobotics Society of Japan. Vol.17, No.2. 195-201 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] A.Namiki, Y.Nakabo, I.Ishii, M.Ishikawa: "1ms Sensory-Motor Fusion system"IEEE Transactions on Mechatoronics. Vol.5, No.3. 244-252 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] A.Namiki, M.Ishikawa: "Optimal Grasping Using vision and Tactile Feedback"Journal of Robotics Socity of Japan. Vol.18, No.2. 261-269 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] 並木明夫,石川正俊: "視触覚フィードバックを用いた最適把握行動"日本ロボット学会誌. Vol.18,No.2. 261-269 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 池田立一,下条誠,並木明夫,石川正俊,満渕邦彦: "ワイヤ縫込方式触覚センサの開発-4本指ハンドを用いた把持実験"第18回日本ロボット学会学術講演会予稿集. 1B33. 69-70 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 山田泉,並木明夫,石井抱,石川正俊: "実時間視力覚フィードバックを用いた実環境作業支援システム"第18回日本ロボット学会学術講演会予稿集. 3A12. 959-960 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 中坊嘉宏,石井抱,石川正俊: "2台の超高速ビジョンシステムを用いた3次元トラッキング"第18回日本ロボット学会学術講演会予稿集. 2K22. 821-822 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 並木明夫,石井抱,石川正俊: "視力覚フィードバックを用いた小型作業支援ツールの開発"ロボティクス・メカトロニクス講演会'00 講演論文集. 2P2-76-101. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Y.Nakabo,M.Ishikawa,H.Toyoda,S.Mizuno: "Ims Column Parallel Vision System and Its Application of High Speed Target Fracking"IEEE Int.Conf.on Robotics and Automation Proceedings. 650-655 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] M. Ishikawa, A. Namiki, T. Komuro, I. Ishii: "Ims Sensory-Motor Fusion System with Hierarchical Parallel Processing Architecture"The Second International Conference on Information Fusion. 640-647 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] M. Ishikawa, T. Komuro, A. Namiki, I. Ishii: "New Generation of Sensory Information Processing for Intelligent Systems-VLSI Vision Chip and Sensor Fusion System"Forth International Conference on Electronic Measurement and Instruments. 1-6 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] M. Ishikawa, T. Komuro, A. Namiki, I. Ishii: "Ims Sensory-Motor Fusion System"Int. Symp. of Robotics Research. 291-296 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] T. Komuro, I. Ishii, M. Ishikawa: "General-purpose vision chip architecture for real-time machine vision"Advanced Robotics. vol.12,no.6. 619-627 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 並木、石井、石川: "高速センサフィードバックに基づく感覚運動統合アーキテクチャとその把握操り行動への応用"ロボティックス・メカトロニクス講演会'99講演論文集. 1A1-63-094(1)-(2). (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 並木、中坊、石井、石川: "Ims感覚運動統合システムにおける高速並列分散処理"ロボティックス・メカトロニクス講演会'99講演論文集. 2P2-49-058(1)-(2). (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 石川: "センサ情報処理技術で変わるロボットの世界" システム/制御/情報. 42・4. 210-216 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 小室, 鈴木, 石井, 石川: "汎用プロセッシングエレメントを用いた超並列・超高速ビジョンチップの設計" 電子情報通信学会論文誌D-1. J81-D-I・2. 70-76 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 大脇, 中坊, 並木, 石井, 石川: "視触覚モダリティ変換を用いたリアルタイム実環境仮想接触システム" 電子情報通信学会論文誌D-II. J81-D-II・5. 918-924 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 石井, 石川: "高速ビジョンのための直接抽出法" 電子情報通信学会論文誌」D-II. J81-D-II・8. 1920-1926 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 並木, 中坊, 石井, 石川: "高速視覚を用いた把握行動システム" ロボティックス・メカトロニクス講演会'98、講演論文集. ICIII2-3(1)-(2). (1998)

    • Related Report
      1998 Annual Research Report

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Published: 1998-04-01   Modified: 2016-04-21  

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