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Research on Construction of a Flexible Human-Robot Interface

Research Project

Project/Area Number 11650272
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionCHUO UNIVERSITY

Principal Investigator

SAKANE Shigeyuki  Chuo University, Faculty of Scientific and Engineering, Professor, 理工学部, 教授 (10276694)

Project Period (FY) 1999 – 2001
Project Status Completed (Fiscal Year 2001)
Budget Amount *help
¥3,600,000 (Direct Cost: ¥3,600,000)
Fiscal Year 2001: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2000: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 1999: ¥1,700,000 (Direct Cost: ¥1,700,000)
Keywordshuman-robot interface / augmented reality / hand pointer / projector / hand tracking / annotation / visual tracking / occlusion / Augmented Reality / ディジタルデスク / 指さしポインタ / ジェスチャ認識 / 作業支援 / Annotation / トラッキングビジョン / ロボット作業教示 / ヒューマンロボットインタフェース / プロジェクター
Research Abstract

We have developed a human-robot interface system, PARTNER, that takes into account the flexibility of the Augmented Reality approach. The prototype consists of a projector subsystem for information display and a real-time tracking vision subsystem to recognize the human's action. In this project, we have developed two new functions, Interactive Hand Pointer and Adaptive Annotation Function.
The Interactive Hand Pointer is used for selecting objects or positions in the environment via the operator's hand gestures. The system visually tracks the operator's pointing hand and projects a mark at the indicated position using an LCD projector. Since the mark can be observed directly in the real work space without monitor displays or HMDs, correction of the indicated position by moving the hand is very easy for the operator. The Adaptive Annotation, Function has been developed for teaching and assisting the human's task. Based on a state transition diagram, the system generates annotations adaptively to the situation by monitoring not only changes of the object's geometry but also the operator's action required for achieving the task. Experimental results of an unfolding task of a portable OHP device demonstrate the usefulness of the proposed system.
Moreover, we have developed a view-based visual tracking system not only to cope with change of the appearance of the template in a 3D environment but also to cope with occlusion which is a problem in cooperatively handling objects between humans and robots. We proposed tessellated template method" to detect occlusion based on an evaluation of correlation errors in the tessellated template. Experiments of hand-over action between human and robot demonstrate usefulness of the visual tracking system.

Report

(4 results)
  • 2001 Annual Research Report   Final Research Report Summary
  • 2000 Annual Research Report
  • 1999 Annual Research Report
  • Research Products

    (34 results)

All Other

All Publications (34 results)

  • [Publications] 伊藤健, 坂根茂幸: "オクルージョンに対してロバストなビューベーストビジュアルトラッキング"日本ロボット学会誌. 19・8. 1018-1026 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 佐藤信, 坂根茂幸: "実空間にマークを投影するインタラクティブハンドポインタの構成"電気学会論文誌. 121C・9. 1464-1470 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 伊藤健, 坂根茂幸: "アフィン変換テンプレート群の動的遷移に基づくビジュアルトラッキング"日本ロボット学会誌. 19・1. 100-108 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M.Yamashita, S.Sakane: "Adaptive annotation using a human-robot interface system PARTNER"Proc.IEEE Int.Conf.Robotics and Automation. 2661-2667 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K.Ito, S.Sakane: "Visual tracking using dynamic transition in groups of affine transformed templates"Proc.2000 IEEE Int.Conf.Robotics and Automation. 2082-2087 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] S.Sato, S.Sakane: "A human-robot interface using an interactive hand pointer that projects a mark in the real work space"Proc.2000 IEEE Int.Conf.Robotics and Automation. 589-595 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K.Ito, S.Sakane: "Robust view-based visual tracking with detection of occlusions"Proc.2001 IEEE Int.Conf.Robotics and Automation. 1207-1213 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M.Terashima, S.Sakane: "A Human-Robot Interface Using an Extended Digital Desk"Proc.IEEE Int.Conf.Robotics and Automation. 2874-2880 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K. Ito, S. Sakane: "Robust view-based visual tracking with detection of occlusions"Journal of the Robotics Society of Japan. Vol.19 No.8. 1018-1026 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] S. Sato. S. Sakane: "A human-robot interface using an interactive hand pointer that projects a mark in the real work space"Trans. of the Institute of Electrical Engineers of Japan. Vol.121 No.9. 1464-1470 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K. Ito, S. Sakane: "Visual tracking using dynamic transition in groups of affine transformed templates"Journal of the Robotics Society of Japan. Vol.19, No.1. 100-108 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K. Ito, S. Sakane: "Robust view-based visual tracking with detection of occlusions"Proc. 2001 IEEE Int. Conf. Robotics and Automation. 1207-1213 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M. Yamashita, S. Sakane: "Adaptive annotation using a human-robot interface system PARTNER"Proc. 2001 IEEE Int. Conf. Robotics and Automation. 2661-2667 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] K. Ito, S. Sakane: "Visual tracking using dynamic transition in groups of affine transformed templates"Proc. 2000 IEEE Int. Conf. Robotics and Automation. 2082-2087 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] S. Sato, S. Sakane: "A human-robot interface using an interactive hand pointer that projects a mark in the real work space"Proc. 2000 IEEE Int. Conf. Robotics and Automation. 589-595 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M. Terashima, S. Sakane: "A Human-Robot Interface Using an Extended Digital Desk"Proc. IEEE Int. Conf. Robotics and Automation. 2874-2880 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 伊藤健, 坂根茂幸: "オクルージョンに対してロバストなビューベーストビジュアルトラッキング"日本ロボット学会誌. 19・8. 1018-1026 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 佐藤信, 坂根茂幸: "実空間にマークを投影するインタラクティブハンドポインタの構成"電気学会論文誌. 121C・9. 1464-1470 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 伊藤健, 坂根茂幸: "アフィン変換テンプレート群の動的遷移に基づくビジュアルトラッキング"日本ロボット学会誌. 19・1. 100-108 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] K.Ito, S.Sakane: "Robust view-based visual tracking with detection of occlusions"Proc.IEEE Int.Conf.Robotics and Automation. 1207-1213 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] M.Yamashita, S.Sakane: "Adaptive annotation using a human-robot interface system PARTNER"Proc.IEEE Int.Conf.Robotics and Automation. 2661-2667 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 関和章, 伊藤健, 坂根茂幸: "物の受け渡し行動のためのビューベースト・ステレオトラッキング"電気学会システム・制御研究会資料. SC01・27. 41-45 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] K.Ito,S.Sakane: "Visual Tracking using dynamic transition in groups of affine transformed templates"Proc.IEEE Int.Conf.on Robotics and Automation. 2082-2087 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] S.Sato,S.Sakane: "A human-robot interface using an interactive hand pointer that project a mark in the real work space"Proc.IEEE Int.Conf.on Robotics and Automation. 589-595 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 山下雅也,坂根茂幸: "PARTNER:人間とロボットの相互の作業教示を支援するプロジェクタベーストAR-人間作業の支援-"第18回日本ロボット学会学術講演会予稿集. 1087-1088 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 伊藤健,坂根茂幸: "アフィン変換テンプレート群の動的遷移に基づくビジュアルトラッキング"日本ロボット学会誌. 19・1. 100-108 (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] 山下雅也,坂根茂幸: "PARTNER:人間とロボットの相互の作業教示を支援するプロジェクタベーストAR-人間作業の支援-"電気学会システム・制御研究会資料. (発表予定). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] 伊藤健,坂根茂幸: "オクルージョン検出機能を持つロバストなビューベーストトラッキング"電気学会システム・制御研究会資料. (発表予定). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] S.Sato, S.Sakane: "A human-robot interface using an interactive hand pointer that projects a mark in the real work space"Proc.2000 IEEE Int.Conf.Robotics and Automation. (発売予定). (2000)

    • Related Report
      1999 Annual Research Report
  • [Publications] 佐藤信,坂根茂幸: "実時間とヒューマン・ロボットインタフェース-実空間にマークを投影する指さしポインタの拡張-"第17回日本ロボット学会学術講演会予稿集. 417-418 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 伊藤健,坂根茂幸: "ロボット作業環境データベースの構成-アフィン変換テンプレートの拡張-"第17回日本ロボット学会学術講演会予稿集. 487-488 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 山下雅也,佐藤信,坂根茂幸: "実時間とヒューマン・ロボットインタフェース-対話型レンジファインダ機能の構成-"第17回日本ロボット学会学術講演会予稿集. (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 佐藤信,坂根茂幸: "実空間強化とヒューマン・ロボットインタフェースの研究-赤外線画像に基づく指さしポインタの構成-"電気学会システム・制御研究会資料. (発売予定). (2000)

    • Related Report
      1999 Annual Research Report
  • [Publications] 山下雅也,佐藤信,坂根茂幸: "実空間強化とヒューマン・ロボットインタフェースの研究-対話型レンジファインダ機能の構成-"電気学会システム・制御研究会資料. (発表予定). (2000)

    • Related Report
      1999 Annual Research Report

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Published: 1999-04-01   Modified: 2016-04-21  

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