http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Shohei Kato (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
-
Associative Motion Generation for Humanoid Robot Reflecting Human Body Movement
Wakabayashi, Akinori,Motomura, Satona,Kato, Shohei Korean Institute of Intelligent Systems 2012 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.12 No.2
This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.
-
Associative Motion Generation for Humanoid Robot Reflecting Human Body Movement
AkinoriWakabayashi,Satona Motomura,Shohei Kato 한국지능시스템학회 2012 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.12 No.2
This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.
-
Funayama, Akinori,Kojima, Taku,Yoshizawa, Michiko,Mikami, Toshihiko,Kanemaru, Shohei,Niimi, Kanae,Oda, Yohei,Kato, Yusuke,Kobayashi, Tadaharu Korean Association of Maxillofacial Plastic and Re 2017 Maxillofacial Plastic Reconstructive Surgery Vol.39 No.-
Background: Mandibular reconstruction is performed after segmental mandibulectomy, and precise repositioning of the condylar head in the temporomandibular fossa is essential for maintaining preoperative occlusion. Methods: In cases without involvement of soft tissue around the mandibular bone, the autopolymer resin in a soft state is pressed against the lower border of the mandible and buccal and lingual sides of the 3D model on the excised side. After hardening, it is shaved with a carbide bar to make the proximal and distal parts parallel to the resected surface in order to determine the direction of mandibular resection. On the other hand, in cases that require resection of soft tissue around the mandible such as cases of a malignant tumor, right and left mandibular rami of the 3D model are connected with the autopolymer resin to keep the preoperative position between proximal and distal segments before surgical simulation. The device is made to fit the lower border of the anterior mandible and the posterior border of the mandibular ramus. The device has a U-shaped handle so that adaptation of the device will not interfere with the soft tissue to be removed and has holes to be fixed on the mandible with screws. Results: We successfully performed the planned accurate segmental mandibulectomy and the precise repositioning of the condylar head by the device. Conclusions: The present technique and device that we developed proved to be simple and useful for restoring the preoperative condylar head positioning in the temporomandibular fossa and the precise resection of the mandible.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
