| Project/Area Number |
16500105
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Gifu University |
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Principal Investigator |
YAMAMOTO Kazuhiko Gifu University, Faculty of Engineering, Professor, 工学部, 教授 (60273116)
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| Co-Investigator(Kenkyū-buntansha) |
KATO Kunihito Gifu University, Faculty of Engineering, Research Associate, 工学部, 助手 (70283281)
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| Project Period (FY) |
2004 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥2,900,000 (Direct Cost: ¥2,900,000)
Fiscal Year 2005: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 2004: ¥1,400,000 (Direct Cost: ¥1,400,000)
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| Keywords | Humanoid vision / Humanoid robot / Gesture recognition / Person detection / Man-Machine communication / Eye movement analysis / パターン認識 / ユーザインタフェース / 顔認識 / 行動解析 / 物体追跡 / マンマシンインターフェース / ジェスチャ認識 / ステレオマッチング / 四方向面特徴 / パターンマッチング / 人物認識 |
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| Research Abstract |
In this research, we proposed "Humanoid Vision". Nodaway, humanoid robot's exterior and features are becoming as similar as human. Then we consider that "the humanoid robot has to have humanoid functions", and eyes for humanoid robot have to be "Humanoid Vision". Humanoid vision is the vision system which is focused on human actions of the robot, and emulation of human beings. We used a humanoid robot "YAMATO" which has two camera eyes to achieve this research goal.
The first year, we constructed an emulation system by using distance measuring, detection of the person and gesture recognition method. We developed their algorithms and introduced on our robot. Our method recognizes gestures of persons standing in front of the robot, and the robot can follow that actions.
The second year, we researched about user friendly interface between human and robot. Robot has to act more real human actions to feel the humanity in human and robot communication. Therefore, in the first step, we studied the human action of tracking an object by the eyes, and that actions are modeled to the robot actions. By using this model, our robot can track an object as similar as human beings.
We think that the human being is optimized for human frameworks, thus the humanoid vision is the best vision system for humanoid robot which has human like.
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