| Item type |
会議発表論文 / Conference Paper(1) |
| 公開日 |
2007-11-22 |
| タイトル |
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|
タイトル |
A motion rule for human-friendly robots basedinvestigations and its application to mobile robot on electrodermal activity |
|
言語 |
en |
| 言語 |
|
|
言語 |
eng |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
motion generation |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
human-friendly robot |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
skin conductance response |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
EDA |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
depth-from-focus |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_5794 |
|
資源タイプ |
conference paper |
| アクセス権 |
|
|
アクセス権 |
open access |
|
アクセス権URI |
http://purl.org/coar/access_right/c_abf2 |
| 著者 |
花島, 直彦
GOTO, Tadahiro
OHTA, Youhei
疋田, 弘光
山下, 光久
|
| 室蘭工業大学研究者データベースへのリンク |
|
|
|
花島 直彦（HANAJIMA Naohiko） |
|
|
http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html |
| 抄録 |
|
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内容記述タイプ |
Abstract |
|
内容記述 |
This paper investigates impressions on the robot motion based on EDA experiments, deduces a motion rule for human-friendly robots from the investigations, and applies it to a mobile robot experimental apparatus. In our previous work, it was suggested that actuation noise come from the robots tended to raise the sympathetic nerve system (SNS) response of the heart rate variability. In another experiment it is observed that blocking out either the sound or the sight attenuated the electrodermal activity (EDA), which reflects the SNS, to the robot motion. In the present work, the experiment was designed not so as to avoid the influence of the habituation differently from the previous experiments, which was the significant factor contributing to reducing the EDA responses. As a result of statistical analysis, it was concluded that the present work supported the result of the previous work. Based on these investigations, we deduced the motion rule for human-friendly robots from this investigation, that robots must reduce their motion speed in the immediate vicinity of humans. We constructed the experimental setup that a mobile robot approached human with its speed decreased in conformity with the rule. To estimate the distance from the human, the skin color detection and depth-from-focus techniques were applied to a monocular color video camera system with pan/tilt/zoom operation. The experimental result showed that a proper choice of commands could perform the robot motion to reduce its speed in the immediate vicinity of the human. |
|
言語 |
en |
| 書誌情報 |
en : 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
巻 2005,
p. 2186-2192,
発行日 2005
|
| 出版者 |
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|
出版者 |
IEEE |
|
言語 |
en |
| 出版者版へのリンク |
|
|
|
10.1109/IROS.2005.1545301 |
|
|
http://dx.doi.org/10.1109/IROS.2005.1545301 |
| DOI |
|
|
関連タイプ |
isVersionOf |
|
|
識別子タイプ |
DOI |
|
|
関連識別子 |
info:doi/10.1109/IROS.2005.1545301 |
| 日本十進分類法 |
|
|
主題Scheme |
NDC |
|
主題 |
548.3 |
| ISBN |
|
|
|
識別子タイプ |
ISBN |
|
|
関連識別子 |
0-7803-8912-3 |
| 書誌レコードID |
|
|
|
識別子タイプ |
NCID |
|
|
関連識別子 |
BA75292229 |
| 権利 |
|
|
言語 |
en |
|
権利情報 |
(c)2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2186-2192, 2005 |
| 著者版フラグ |
|
|
出版タイプ |
AM |
|
出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
| フォーマット |
|
|
内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
1093_manuscript.pdf (594.6 kB)
