The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
본 논문은 자율 휴머노이드 서비스 로봇 팔과 손 시스템 HARIS를 구현하기 위한 인지과학 기반의 지식 기반 정보 모델링의 개념과 방법론을 제시한다. HARIS 로봇 시스템은 모델 기반 3D 비전, 지능형 스케줄러, 컴퓨터화된 팔/손 컨트롤러, 휴머노이드 HARIS 팔/손 장치 및 휴먼 인터페이스로 구성되어 있으며 노인과 장애인이 책상 위에서 물체를 조작하는 것을 목표로 합니다. 공유된 지식베이스인 월드 모델을 도입하여 소프트웨어 모듈 간의 통신 채널로 작동한다. 작업 스케줄링과 3D 비전은 인지과학을 기반으로 하며, 즉 인간의 시각과 스케줄링 방식을 고려하여 지식 기반 소프트웨어 시스템을 설계합니다. 핵심 아이디어는 장면을 설명하고, 작업을 예약하고, 팔과 손을 제어하고, 인간과 상호 작용할 때 "단어"를 사용하는 것입니다. 월드 모델은 다양한 분산 기능을 융합하는 데 핵심적인 역할을 합니다. 일반화된 프레임 기반 지식공학 환경 ZERO++는 시스템 구현에 있어 소프트웨어 플랫폼으로 효과적으로 사용되었습니다. 실험 시스템은 제한된 상황에서 성공적으로 작동하고 있습니다. 인지 과학 기반 정보 모델링의 도입을 통해 우리는 프로젝트의 장기 목표인 인간-로봇 공생을 실현하는 데 유용한 힌트를 배웠습니다.
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Haruki UENO, "A Knowledge-Based Information Modeling for Autonomous Humanoid Service Robot" in IEICE TRANSACTIONS on Information,
vol. E85-D, no. 4, pp. 657-665, April 2002, doi: .
Abstract: This paper presents the concepts and methodology of knowledge-based information modeling based on Cognitive Science for realizing the autonomous humanoid service robotic arm and hand system HARIS. The HARIS robotic system consists of model-based 3D vision, intelligent scheduler, computerized arm/hand controller, humanoid HARIS arm/hand unit and human interface, and aims to serve the aged and disabled on desk-top object manipulations. The world model, i.e., a shared knowledge base, is introduced to work as a communication channel among the software modules. The task scheduling as well as the 3D-vision is based on Cognitive Science, i.e., a human's way of vision and scheduling is considered in designing the knowledge-based software system. The key idea is to use "words" in describing a scene, scheduling tasks, controlling an arm and hand, and interacting with a human. The world model plays a key role in fusing a variety of distributed functions. The generalized frame-based knowledge engineering environment ZERO++ has been effectively used as a software platform in implementing the system. The experimental system is working within a limited situation successfully. Through the introduction of Cognitive Science-based information modeling we have learned useful hints for realizing human-robot symbiosis, that is our long term goal of the project.
URL: https://global.ieice.org/en_transactions/information/10.1587/e85-d_4_657/_p
부
@ARTICLE{e85-d_4_657,
author={Haruki UENO, },
journal={IEICE TRANSACTIONS on Information},
title={A Knowledge-Based Information Modeling for Autonomous Humanoid Service Robot},
year={2002},
volume={E85-D},
number={4},
pages={657-665},
abstract={This paper presents the concepts and methodology of knowledge-based information modeling based on Cognitive Science for realizing the autonomous humanoid service robotic arm and hand system HARIS. The HARIS robotic system consists of model-based 3D vision, intelligent scheduler, computerized arm/hand controller, humanoid HARIS arm/hand unit and human interface, and aims to serve the aged and disabled on desk-top object manipulations. The world model, i.e., a shared knowledge base, is introduced to work as a communication channel among the software modules. The task scheduling as well as the 3D-vision is based on Cognitive Science, i.e., a human's way of vision and scheduling is considered in designing the knowledge-based software system. The key idea is to use "words" in describing a scene, scheduling tasks, controlling an arm and hand, and interacting with a human. The world model plays a key role in fusing a variety of distributed functions. The generalized frame-based knowledge engineering environment ZERO++ has been effectively used as a software platform in implementing the system. The experimental system is working within a limited situation successfully. Through the introduction of Cognitive Science-based information modeling we have learned useful hints for realizing human-robot symbiosis, that is our long term goal of the project.},
keywords={},
doi={},
ISSN={},
month={April},}
부
TY - JOUR
TI - A Knowledge-Based Information Modeling for Autonomous Humanoid Service Robot
T2 - IEICE TRANSACTIONS on Information
SP - 657
EP - 665
AU - Haruki UENO
PY - 2002
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E85-D
IS - 4
JA - IEICE TRANSACTIONS on Information
Y1 - April 2002
AB - This paper presents the concepts and methodology of knowledge-based information modeling based on Cognitive Science for realizing the autonomous humanoid service robotic arm and hand system HARIS. The HARIS robotic system consists of model-based 3D vision, intelligent scheduler, computerized arm/hand controller, humanoid HARIS arm/hand unit and human interface, and aims to serve the aged and disabled on desk-top object manipulations. The world model, i.e., a shared knowledge base, is introduced to work as a communication channel among the software modules. The task scheduling as well as the 3D-vision is based on Cognitive Science, i.e., a human's way of vision and scheduling is considered in designing the knowledge-based software system. The key idea is to use "words" in describing a scene, scheduling tasks, controlling an arm and hand, and interacting with a human. The world model plays a key role in fusing a variety of distributed functions. The generalized frame-based knowledge engineering environment ZERO++ has been effectively used as a software platform in implementing the system. The experimental system is working within a limited situation successfully. Through the introduction of Cognitive Science-based information modeling we have learned useful hints for realizing human-robot symbiosis, that is our long term goal of the project.
ER -