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author tatsuki
date Fri, 26 Jun 2015 09:38:20 +0900
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10:62f384a20c2c 11:7104d522d2f0
33 <h1 id="abstract-robots-and-cultures">Abstract: Robots and cultures</h1> 33 <h1 id="abstract-robots-and-cultures">Abstract: Robots and cultures</h1>
34 </header> 34 </header>
35 <!-- === begin markdown block === 35 <!-- === begin markdown block ===
36 36
37 generated by markdown/1.2.0 on Ruby 1.9.3 (2011-10-30) [x86_64-darwin10] 37 generated by markdown/1.2.0 on Ruby 1.9.3 (2011-10-30) [x86_64-darwin10]
38 on 2015-06-26 09:06:41 +0900 with Markdown engine kramdown (1.7.0) 38 on 2015-06-26 09:38:02 +0900 with Markdown engine kramdown (1.7.0)
39 using options {} 39 using options {}
40 --> 40 -->
41 41
42 <!-- _S9SLIDE_ --> 42 <!-- _S9SLIDE_ -->
43 43
698 </div></div> 698 </div></div>
699 699
700 <div class="slide" id="38"><div> 700 <div class="slide" id="38"><div>
701 <section> 701 <section>
702 <header> 702 <header>
703 <h1 id="converter">converter</h1>
704 </header>
705 <!-- _S9SLIDE_ -->
706
707 <ul>
708 <li>converter given joint angles would consist in a one-to-one mapping between an observed human subject and the robot</li>
709 <li>convert is addressed by applying a post-processing procedure in joint angle space</li>
710 <li>the joint angles, given in the MMM format,are optimized concerning the tool centre point position</li>
711 <li>solution is estimated by using the joint configuration of the MMM model on the robot</li>
712 </ul>
713
714
715
716 </section>
717 </div></div>
718
719 <div class="slide" id="39"><div>
720 <section>
721 <header>
722 <h1 id="mmm-support">MMM support</h1> 703 <h1 id="mmm-support">MMM support</h1>
723 </header> 704 </header>
724 <!-- _S9SLIDE_ --> 705 <!-- _S9SLIDE_ -->
725 706
726 <ul> 707 <ul>
734 715
735 716
736 </section> 717 </section>
737 </div></div> 718 </div></div>
738 719
739 <div class="slide" id="40"><div> 720 <div class="slide" id="39"><div>
740 <section> 721 <section>
741 <header> 722 <header>
742 <h1 id="conversion-example-of-mmm">Conversion example of MMM</h1> 723 <h1 id="conversion-example-of-mmm">Conversion example of MMM</h1>
743 </header> 724 </header>
744 <!-- _S9SLIDE_ --> 725 <!-- _S9SLIDE_ -->
745 726
746 <ul> 727 <ul>
747 <li>After programming the postures directly on the MMM model they were processed by the converter</li> 728 <li>After programming the motion on the MMM model they were processed by the converter</li>
748 <li>the human model contains many joints, which are not present in the robot configuration</li> 729 <li>the human model contains many joints, which are not present in the robot configuration</li>
749 <li>ARMAR is not bending the body when performing a bow</li> 730 <li>ARMAR is not bending the body when performing a bow</li>
750 <li>It was expressed using a portion present in the robot (e.g., the neck)</li> 731 <li>It was expressed using a portion present in the robot (e.g., the neck)</li>
751 </ul> 732 </ul>
752 733
753 734
754 735
755 </section> 736 </section>
756 </div></div> 737 </div></div>
757 738
739 <div class="slide" id="40"><div>
740 <section>
741 <header>
742 <h1 id="gestureexample">GestureExample</h1>
743 </header>
744 <!-- _S9SLIDE_ -->
745
746 <p><img src="pictures/GestureExample.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
747
748
749
750 </section>
751 </div></div>
752
758 <div class="slide" id="41"><div> 753 <div class="slide" id="41"><div>
759 <section> 754 <section>
760 <header> 755 <header>
761 <h1 id="gestureexample">GestureExample</h1> 756 <h1 id="implementgesturearmar">ImplementGestureARMARⅢ</h1>
762 </header> 757 </header>
763 <!-- _S9SLIDE_ --> 758 <!-- _S9SLIDE_ -->
764 759
765 <p><img src="pictures/GestureExample.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p> 760 <p><img src="pictures/ImplementGestureARMARⅢ.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
766 761
767 762
768 763
769 </section> 764 </section>
770 </div></div> 765 </div></div>
771 766
772 <div class="slide" id="42"><div> 767 <div class="slide" id="42"><div>
773 <section>
774 <header>
775 <h1 id="implementgesturearmar">ImplementGestureARMARⅢ</h1>
776 </header>
777 <!-- _S9SLIDE_ -->
778
779 <p><img src="pictures/ImplementGestureARMARⅢ.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
780
781
782
783 </section>
784 </div></div>
785
786 <div class="slide" id="43"><div>
787 <section> 768 <section>
788 <header> 769 <header>
789 <h1 id="modular-controller-architecture-a-modular-software-framework">Modular Controller Architecture, a modular software framework</h1> 770 <h1 id="modular-controller-architecture-a-modular-software-framework">Modular Controller Architecture, a modular software framework</h1>
790 </header> 771 </header>
791 <!-- _S9SLIDE_ --> 772 <!-- _S9SLIDE_ -->
799 780
800 781
801 </section> 782 </section>
802 </div></div> 783 </div></div>
803 784
785 <div class="slide" id="43"><div>
786 <section>
787 <header>
788 <h1 id="modular-controller-architecture-a-modular-software-framework-1">Modular Controller Architecture, a modular software framework</h1>
789 </header>
790 <!-- _S9SLIDE_ -->
791
792 <p><img src="pictures/MCA.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
793
794
795
796 </section>
797 </div></div>
798
804 <div class="slide" id="44"><div> 799 <div class="slide" id="44"><div>
805 <section>
806 <header>
807 <h1 id="modular-controller-architecture-a-modular-software-framework-1">Modular Controller Architecture, a modular software framework</h1>
808 </header>
809 <!-- _S9SLIDE_ -->
810
811 <p><img src="pictures/MCA.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
812
813
814
815 </section>
816 </div></div>
817
818 <div class="slide" id="45"><div>
819 <section> 800 <section>
820 <header> 801 <header>
821 <h1 id="implementation-of-words">Implementation of words</h1> 802 <h1 id="implementation-of-words">Implementation of words</h1>
822 </header> 803 </header>
823 <!-- _S9SLIDE_ --> 804 <!-- _S9SLIDE_ -->
834 815
835 816
836 </section> 817 </section>
837 </div></div> 818 </div></div>
838 819
820 <div class="slide" id="45"><div>
821 <section>
822 <header>
823 <h1 id="table-of-greeting-words">table of greeting words</h1>
824 </header>
825 <!-- _S9SLIDE_ -->
826
827 <p><img src="pictures/tableofgreetingwords.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
828
829
830
831 </section>
832 </div></div>
833
839 <div class="slide" id="46"><div> 834 <div class="slide" id="46"><div>
840 <section>
841 <header>
842 <h1 id="table-of-greeting-words">table of greeting words</h1>
843 </header>
844 <!-- _S9SLIDE_ -->
845
846 <p><img src="pictures/tableofgreetingwords.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
847
848
849
850 </section>
851 </div></div>
852
853 <div class="slide" id="47"><div>
854 <section> 835 <section>
855 <header> 836 <header>
856 <h1 id="implementation-of-words-1">Implementation of words</h1> 837 <h1 id="implementation-of-words-1">Implementation of words</h1>
857 </header> 838 </header>
858 <!-- _S9SLIDE_ --> 839 <!-- _S9SLIDE_ -->
866 847
867 848
868 </section> 849 </section>
869 </div></div> 850 </div></div>
870 851
871 <div class="slide" id="48"><div> 852 <div class="slide" id="47"><div>
872 <section> 853 <section>
873 <header> 854 <header>
874 <h1 id="experiment-description">Experiment description</h1> 855 <h1 id="experiment-description">Experiment description</h1>
875 </header> 856 </header>
876 <!-- _S9SLIDE_ --> 857 <!-- _S9SLIDE_ -->
883 864
884 865
885 </section> 866 </section>
886 </div></div> 867 </div></div>
887 868
888 <div class="slide" id="49"><div> 869 <div class="slide" id="48"><div>
889 <section> 870 <section>
890 <header> 871 <header>
891 <h1 id="experiment-description2">Experiment description2</h1> 872 <h1 id="experiment-description2">Experiment description2</h1>
892 </header> 873 </header>
893 <!-- _S9SLIDE_ --> 874 <!-- _S9SLIDE_ -->
903 884
904 885
905 </section> 886 </section>
906 </div></div> 887 </div></div>
907 888
908 <div class="slide" id="50"><div> 889 <div class="slide" id="49"><div>
909 <section> 890 <section>
910 <header> 891 <header>
911 <h1 id="experiment-description3">Experiment description3</h1> 892 <h1 id="experiment-description3">Experiment description3</h1>
912 </header> 893 </header>
913 <!-- _S9SLIDE_ --> 894 <!-- _S9SLIDE_ -->
922 903
923 904
924 </section> 905 </section>
925 </div></div> 906 </div></div>
926 907
927 <div class="slide" id="51"><div> 908 <div class="slide" id="50"><div>
928 <section> 909 <section>
929 <header> 910 <header>
930 <h1 id="statistics-of-participants">Statistics of participants</h1> 911 <h1 id="statistics-of-participants">Statistics of participants</h1>
931 </header> 912 </header>
932 <!-- _S9SLIDE_ --> 913 <!-- _S9SLIDE_ -->
944 925
945 926
946 </section> 927 </section>
947 </div></div> 928 </div></div>
948 929
949 <div class="slide" id="52"><div> 930 <div class="slide" id="51"><div>
950 <section> 931 <section>
951 <header> 932 <header>
952 <h1 id="tatistics-of-participants">tatistics of participants</h1> 933 <h1 id="tatistics-of-participants">tatistics of participants</h1>
953 </header> 934 </header>
954 <!-- _S9SLIDE_ --> 935 <!-- _S9SLIDE_ -->
967 948
968 949
969 </section> 950 </section>
970 </div></div> 951 </div></div>
971 952
972 <div class="slide" id="53"><div> 953 <div class="slide" id="52"><div>
973 <section> 954 <section>
974 <header> 955 <header>
975 <h1 id="the-experiment-protocol-is-as-follows-15">The experiment protocol is as follows 1~5</h1> 956 <h1 id="the-experiment-protocol-is-as-follows-15">The experiment protocol is as follows 1~5</h1>
976 </header> 957 </header>
977 <!-- _S9SLIDE_ --> 958 <!-- _S9SLIDE_ -->
987 968
988 969
989 </section> 970 </section>
990 </div></div> 971 </div></div>
991 972
992 <div class="slide" id="54"><div> 973 <div class="slide" id="53"><div>
993 <section> 974 <section>
994 <header> 975 <header>
995 <h1 id="the-experiment-protocol-is-as-follows-610">The experiment protocol is as follows 6~10</h1> 976 <h1 id="the-experiment-protocol-is-as-follows-610">The experiment protocol is as follows 6~10</h1>
996 </header> 977 </header>
997 <!-- _S9SLIDE_ --> 978 <!-- _S9SLIDE_ -->
1007 988
1008 989
1009 </section> 990 </section>
1010 </div></div> 991 </div></div>
1011 992
1012 <div class="slide" id="55"><div> 993 <div class="slide" id="54"><div>
1013 <section> 994 <section>
1014 <header> 995 <header>
1015 <h1 id="results">Results</h1> 996 <h1 id="results">Results</h1>
1016 </header> 997 </header>
1017 <!-- _S9SLIDE_ --> 998 <!-- _S9SLIDE_ -->
1026 1007
1027 1008
1028 </section> 1009 </section>
1029 </div></div> 1010 </div></div>
1030 1011
1012 <div class="slide" id="55"><div>
1013 <section>
1014 <header>
1015 <h1 id="results-1">Results</h1>
1016 </header>
1017 <!-- _S9SLIDE_ -->
1018
1019 <p><img src="pictures/GestureTable.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
1020
1021
1022
1023 </section>
1024 </div></div>
1025
1031 <div class="slide" id="56"><div> 1026 <div class="slide" id="56"><div>
1032 <section>
1033 <header>
1034 <h1 id="results-1">Results</h1>
1035 </header>
1036 <!-- _S9SLIDE_ -->
1037
1038 <p><img src="pictures/GestureTable.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
1039
1040
1041
1042 </section>
1043 </div></div>
1044
1045 <div class="slide" id="57"><div>
1046 <section> 1027 <section>
1047 <header> 1028 <header>
1048 <h1 id="results-2">Results</h1> 1029 <h1 id="results-2">Results</h1>
1049 </header> 1030 </header>
1050 <!-- _S9SLIDE_ --> 1031 <!-- _S9SLIDE_ -->
1057 1038
1058 1039
1059 </section> 1040 </section>
1060 </div></div> 1041 </div></div>
1061 1042
1043 <div class="slide" id="57"><div>
1044 <section>
1045 <header>
1046 <h1 id="results-3">Results</h1>
1047 </header>
1048 <!-- _S9SLIDE_ -->
1049
1050 <p><img src="pictures/GreetingWordTable.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
1051
1052
1053
1054 </section>
1055 </div></div>
1056
1062 <div class="slide" id="58"><div> 1057 <div class="slide" id="58"><div>
1063 <section>
1064 <header>
1065 <h1 id="results-3">Results</h1>
1066 </header>
1067 <!-- _S9SLIDE_ -->
1068
1069 <p><img src="pictures/GreetingWordTable.png" style="width: 60%; margin-left: 150px; margin-top: -50px;" /></p>
1070
1071
1072
1073 </section>
1074 </div></div>
1075
1076 <div class="slide" id="59"><div>
1077 <section> 1058 <section>
1078 <header> 1059 <header>
1079 <h1 id="limitations-and-improvements">Limitations and improvements</h1> 1060 <h1 id="limitations-and-improvements">Limitations and improvements</h1>
1080 </header> 1061 </header>
1081 <!-- _S9SLIDE_ --> 1062 <!-- _S9SLIDE_ -->
1088 1069
1089 1070
1090 </section> 1071 </section>
1091 </div></div> 1072 </div></div>
1092 1073
1074 <div class="slide" id="59"><div>
1075 <section>
1076 <header>
1077 <h1 id="limitations-and-improvements-1">Limitations and improvements</h1>
1078 </header>
1079 <!-- _S9SLIDE_ -->
1080
1081 <ul>
1082 <li>Speech recognition system and cameras could also detect the human own greeting</li>
1083 <li>Robot itself , to determine whether the greeting was correct</li>
1084 <li>The decision to check the distance to the partner , the timing of the greeting , head orientation , or to use other information , whether the response to a greeting is correct and what is expected</li>
1085 </ul>
1086
1087
1088
1089 </section>
1090 </div></div>
1091
1093 <div class="slide" id="60"><div> 1092 <div class="slide" id="60"><div>
1094 <section> 1093 <section>
1095 <header> 1094 <header>
1096 <h1 id="limitations-and-improvements-1">Limitations and improvements</h1> 1095 <h1 id="limitations-and-improvements-2">Limitations and improvements</h1>
1097 </header> 1096 </header>
1098 <!-- _S9SLIDE_ --> 1097 <!-- _S9SLIDE_ -->
1099 1098
1100 <ul> 1099 <ul>
1101 <li>Robot itself , to determine whether the greeting was correct</li> 1100 <li>It is possible to extend the set of context by using a plurality of documents</li>
1102 <li>Speech recognition system and cameras could also detect the human own greeting</li>
1103 <li>The decision to check the distance to the partner , the timing of the greeting , head orientation , or to use other information , whether the response to a greeting is correct and what is expected</li>
1104 </ul> 1101 </ul>
1105 1102
1106 1103
1107 1104
1108 </section> 1105 </section>
1109 </div></div> 1106 </div></div>
1110 1107
1111 <div class="slide" id="61"><div> 1108 <div class="slide" id="61"><div>
1112 <section>
1113 <header>
1114 <h1 id="limitations-and-improvements-2">Limitations and improvements</h1>
1115 </header>
1116 <!-- _S9SLIDE_ -->
1117
1118 <ul>
1119 <li>It is possible to extend the set of context by using a plurality of documents</li>
1120 </ul>
1121
1122
1123
1124 </section>
1125 </div></div>
1126
1127 <div class="slide" id="62"><div>
1128 <section> 1109 <section>
1129 <header> 1110 <header>
1130 <h1 id="different-kinds-of-embodiment">Different kinds of embodiment</h1> 1111 <h1 id="different-kinds-of-embodiment">Different kinds of embodiment</h1>
1131 </header> 1112 </header>
1132 <!-- _S9SLIDE_ --> 1113 <!-- _S9SLIDE_ -->
1133 1114
1134 <ul> 1115 <ul>
1135 <li>Humanoid robot has a body similar to the human</li> 1116 <li>Humanoid robot has a body similar to the human</li>
1136 <li>robot can change shape , the size capability</li> 1117 <li>robot can change shape , the size capability</li>
1137 <li>Type of greeting me to select the appropriate effect for each robot</li>
1138 <li>By expanding this robot , depending on their physical characteristics , it is possible to start discovering interaction method with the best human yourself</li> 1118 <li>By expanding this robot , depending on their physical characteristics , it is possible to start discovering interaction method with the best human yourself</li>
1139 </ul> 1119 </ul>
1140 1120
1141 <style> 1121 <style>
1142 .slide.cover H2 { font-size: 60px; } 1122 .slide.cover H2 { font-size: 60px; }