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ロボット知能ソフトウェアプラットフォームの研究開発

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1. Ld 23 CE 29 pou orc 283 9 14 A BRE t 5 H 5 E 28 9 14 30 XERE
2. 1 KEH 2008 6 6 RT OST 2008 HRZ 2008 12 5 9 RT fld Ei BE RTC IF 3
3. 2 1 http creativecommons org licenses by sa 2 1 jp NEDO 2 2 1
4. 1 2008 6 5 EusLisp RT mm 2008 7 24 IAS 10 Simultaneous Learning lling System for Wholebody Mot Iion of a Humanoid with Soft Se
5. 112 2010 2010 lt No55 2011 113 ER OpenRTM aist 11 SI2010 311 5 2010 12 114
6. 11 22 12 H 23 o Sip EE s 11 2 22 12 23 11 22 12 23 11 22 12 H 23
7. 1 VET thousand Handed Kannon Model Robots and an Approach to Improving Operating Efficiency FEET iB rmx 2 RTC E 2011 14 0 9 9 2011 IDEC SICE 512011 2011 12 23 Ada SLM FEES IDEC x 6 3 8 27 _ E REF 1e saneta BAER WES _ 6U1 5 z Mz gt ER x br 7 17 20 5 18 s o
8. a CEA EN m 1 21 7 24 Vol 28 No 10 EN Mz mr x 1501 1912_ 9010 ps HHH E 2 23 4 20 Vol 47 No 12 pp 656 665 2011 GUI e gt
9. 7 76 87 GUI 93 2D 95 3D 188 311 MELFA ACT 312 MELEA ACT 329 MELFA H 337
10. ARIE IS uu 1 2008 E 9 H 10 2008 IDEC Robot Control Cell Production System of Senju thousand handed IEEE CASE2008 Kannon Model that 2 Demonstrated Optimality IDEG to the Multi product Production in Varying Volumes for Eight Years E Jem Z 3 2008 12 H 5 SI2008 HERES IDEC Development of the Highly Efficient End effector of Robot Control Cell Production 4 2009 3 12 ISR 2009 Systems for the IDEC Productivity Improvement in Multi product Production in Varying Volumes Development of Portable Robotic Operation Terminals to International A
11. dX 20104E 6 16 R AU RT HJ Hi RI To 2010 12 24 IRT Isaac Anthony iT SE Bu mm 2010 12 25 Isaac Anthony B A JE age
12. 2009029874 x S 2009 42 H 12 AR gt O 2009 11 13 CA dE B dde 2009272305 2009 11 H 30 n X IDRE K is dd EM Pn 2009289375 ACT 2009 12 21 d iine sje gm expel 2009 12 22 Mu AUN CES 5 2010 2 10 2010800074784 PA 112010000775 6 AUT 2010 2 10 D ESTIS BUR K J 20
13. X 3 3 No gg 1 2 NEDO 3 5 3 5 1 PC PC 3 5 2 1 4 RTC Java Deveroper Kit JDK 1 6 0 23 32bit Python 2 6 OpenRTM aist Java 1 0 0 RELEASE OpenRTM aist Python1 0 0 RELEASE OpenRTM Eclipse tools 1 1 RC2 Apache Ant 1 8 2 3 Java Deveroper Kit JDK 1 6 0 23 32bit JDK
14. 18 28 11 H 1 2011 11 J P30 31 KID dd d OE S E E ps tenen Robot As Tmornational Volume 39 Issue 3 4 1 9 SI 2008 12 2 2009 10 3 2009 11 4 10 SI 2009 12 5 11 SI 2010 12 6 11 SI 2010 12 7 2011 FEDE 2012 02 8 12 SI 2012 03 9 12
15. 15 1020 2008 7 31 STL CAD E 2008 MIRU2008 pp 1626 1631 2008 8 1 the 17th IEEE Interna Multi Phase Environm Yusuke Fukusato Sh tional Symposium on R ent Information Interfa oichiro Sakurai Eri S obot and Human Inter ce by using kukanchi ato Shimokawara and active Communication Interactive Human Spa Toru Yamaguchi ROMAN pp 526 531 ce Design and Intellige nce 2008 8 21 SICE Annual Conferen Service offer system in Yusuke Fukusato Eri ce 2008 pp 3529 3583 Kukanchi Interactive Sato Shimokawara J Human Space Design un Nakazato and Tor and Intelligence using u Yamaguchi multi phase environm ental information 2008 8 22 Multisensor Fusion and Service offer system us Yusuke Fukusato Eri Intelligent Systems ing Multi Phase Enviro Sato Shimokawara J MFI2008 pp 332 337 nmental Information In
16. ntelligent Robots a zation nd Systems 2009 12 25 512009 1 Bj du 2010 3 SCR 59 sS 2010 5 13 Proc ICAPS 2010 Observation Planning with On line OM Boussard and Workshop on Plan Algorithms and GPU Heuristic Co J Miura ning and Scheduli mputation ng under Uncertai nty 2010 5 27 CVIM 2010 6 16 2010 RT Od EE
17. E OBERE Lue sy 1 20 9 26 Eo 10 2 20 9 26 31 3 2011 3 20 9 26 1 8 IS B m SE ER MAI 4 20 9 26 2 3 NE RBS x JU E ET 5 20 9 26 4 8 x NE 4E X H 6 20 9 26 3
18. F Hj z BM B M 30 5 A peque WB E SN M F 2A1 A14 GUI HB 31 4 ROBOMEC L 2009 i v The 2nd IFAC Maintenance Planning of 32 Workshop on Safety Protective Systems Takehisa Kohda Dependable Control of using Dynamic Bayesian Hiroki Tokunaga Discrete Systems Networks pe sop 3 uu P ERER AV FOU BIS SOMMA Intelligent Robot NODA Akio 34 XE e RG Fall Technologies for Cell TANAKA Ken ichi gE Production System OKUDA Haruhisa APSS Asia Pacific System Shin ichi K 35 Safety Symposium represented By opa ica dou UN Inhomo
19. a 2008 9 9 26 Z 2008 12 5 9 s SICE 2009 1 10 2008 WDR p Meu 2009 5 26 4 nd MNA CN 2009 f 1 2009 9 H 15 H 2009 Ti
20. EE 8 Top URG Zn T 9 10 SCIP2 0
21. TARS 30mm x 30mm mMmT e NEDO 5 2 OpenHRP3 1 Li i E kr goren Ve t 1 R 53 senson B 5 4 NEDO 5 4 5 4
22. WEBB 3 4 3 1 10 nuhieit vdAam 2tnome LXX A x 3 4 3 1 10 WEB Xe OMG
23. PEKSA EKSA ja NEC 4 OpenRT Platform RT RSJ2008AC1F1 03 CD ROM ERA Platform OpenHRP3 26 2008 RSJ2008AC1F1 05 CD ROM ERR E2 f 26 RSJ2008AC1F1 06 CD ROM 26 H f lZ
24. 2010 6 2010 6 8 2009 197531 2009 8 H 28 E L 3B PERSA A E 2009 197532 2009 8 28 2009 242759 2009 10 21 2011 40712 2011 2 25 2011 110740 2011 5 17 2011 128549 2011 6 8 372011 119676 20114E5 H 27 453 2011 157099 20114E7 H 15 H 2009 9 12 http jp fujitsu com group qnet release 2009 0724 html 2011 9 7
25. SubvoiceChk String sentence String voicedata String sentencearray sentence split gt lt String chkword 1 for int i 0 i lt sentencearray length i int chkwordpos sentencearray i indexOf chkword if chkwordpos 1 chkword text chkwordpos sentencearray i indexOf chkword voicedata sentencearray i substring chkwordpos chkword length 1 sentencearray i length 0 1 break return voicedata public class SubvoiceChk2 extends Thread main return private int value public void run if match sentence kitTalk false NEDO sdlEngine local ports vehicleService stop VclMoveLinearRel 500 0 0 0 0 0 if match sentence amp kitTalk false sdIEngine local ports vehicleService stop VclMoveLinearRel 500 0 0 0 0 0 if match sentence
26. No 2 getAbsoluteOGMap MREC TimedAbsoluteOGMapData double X double Y unsigned long unsigned long BE 3 getFloatAbsoluteOGMap MRFC TimedFloatAbsoluteOGMapData double X double Y unsigned long unsigned long 3 128 MRFC RelativeMapService I F No 1 getRelativeOGMapConfig RTC OGMapConfig 2 getRelativeOGMap MREC TimedRelativeOGMapData P4 3 getFloatRelativeOGMap MREC TimedFloatRelativeOGMapData
27. 3 2 83 8 8 2 talk lex xml X xml versionz 1 0 encoding UTF 8 Xlexicon versionz 1 0 xmInsz http www w3 org 2005 01 pronunciation lexicon xmIns xsi http www w3 org 2001 XMLSchema instance xsi schemaLocationz http www w3 org 2005 01 pronunciation lexicon http www w3 org TR 2007 CR pronunciation lexicon 20071212 pls xsd alphabet kana xml lang jp gt lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt KANA 33 Id amp lt gt X exeme Xlexeme lt grapheme gt lt grapheme gt lt phoneme gt Z 1 lt phoneme gt X exeme Xlexeme lt grapheme gt lt grapheme gt lt phoneme gt Z AI3 4 42 lt phoneme gt X exeme lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt KANA IE LIE L gt lt phoneme gt lt 1 gt lt lexeme gt lt grapheme
28. MobileRobotController 3 13 X 3 13 LocalizationComp lt lt DataInPort gt gt lt lt DataOutPort gt gt RangeData EstimatedPose lt lt DataInPort gt gt lt lt DataOutPort gt gt RobotPose PosePair lt DatalnT ort gt gt ServiceConsumer gt gt Image AbsoluteMapService lt lt DataInPort gt gt StereoData E 3 14 LocalizationComp NEDO 3 78 LocalizationComp z R
29. 2008 9 9 26 BS RA CD RO M 1F2 03 RTC 2008 9 9 26 CD ROM 1 F2 04 2008 9 9 26 E CD RO M 1F2 05 2008 9 9 26 ut CD ROM 1 F2 06
30. A 9 102 2010 1A2 E24 2010 6 103 2010 1P1 E14 2010 6 104 0 BA XE SI2010 2A3 6 2010 12 105 m SI2010 3A1 2 2010 12 106 GPS RTCComponent SI2010 3A1 4 2010 12 107
31. Pioneer 3 DX 1 6mm 9kg 17kg Ef 26 7cm 1 2m s 300 s 2 5cm 25 8 10h X 8 12h 2 4h 5V 1 5A 12V 2 5A 12v7 2A 3 X32 x8 X7 X3 NEDO
32. No 5 ROBOT_MAX_ float 0 5 SPEED m s 2 6 ROBOT RADIUS float 0 310 m ENON PeopleBot PatraFour 3 7 TREAD float 0 3325 m ENON PeopleBot PatraFour 3 8 MOTION_SET String Motion FILE Set mtn 9 SOUND SET int 2 0 1 1 2 24E 10 USE_WAYPOINT_ int 2 PORT 0 1 2 11 USE_WAYPOINT_ int 0 HEADING 0 1 12 USE LOCALIZAT int 0 robot pose ION PORT
33. Vol49 No 9 2010 3 5 2010 4 lt 2008 E gt 1 ROBOMEC 08 IPI E03 2008 6 2 RT ROBOMEC O8 IPI E06 2008 6 CANopen RT Middleware
34. _ 23 10 12 aa T AM BN 11 3 E DHH AE E 49 FRR 23 4E 10 H 24 Qu kO 9B 50 23 10 28 xis 4B 51 24 1 12 129 Du EE EET xen m 52 posp Aia Web ss m http www nikkei co jp n EK AEE 1 20 9 2 To NIKKEI NET ews sangyo 20080925AT1 4 D2505825092008 html Yo ee mm http www kyoto np co p m PEN larticle php mid P20080 2 20 9 25 92500191 amp genre Bl amp ar ea K00 DD EAS k http headlines yahoo co s 3 20 9 25 aie YAHO0 jp hl a 20080925 000000 uius d 38 rps ind 4 20 9 25
35. ung put cue sao as tt e 51 3 6 URGDATAFLOWCOMPCOMP Lk 52 Ia 52 9 62 C EE AES set ettet atat ate att 53 2 gn ER rr Rr e Cu 54 3 7 PEOPLETRACKINGV2COMP i 58 SP E fe 58 TF AT A A 59 aeos 60 3 8 PEOPLETRACKINGTESTCOMBP kk 62 9 821 S ES m 62 8 82 AP du 68 SPI ME I TTE 64 3 9 LOCALIZATIONCOMP tik 65 Boc x A LM 65 9 9 2 4 Vect disti di di 66 DES apu Lm S a bos a S A AA e Dn COEM ios 68 3 10 SIMPLEGLOBALMAPLOADERCOMP 71 8 10 1 Cau oo oue 71 3 10 2 pass du DM kauuisSq 72 DUO uuu dE ADR OR nO nO Bn a nOn a ORO fin 73 3 11 SLAMCOMP ti 75 Sl 75 3 11 2 TT TF ACE TA
36. 39 31 TUT TimedArealnfo NEDO tm data RTC Time sequence cAreaInfo 3 32 TUT AreaInfo id population links vertexes JO long long seduence lt AreaLink gt sequence lt RTOC Point2D gt 9 33 TUT AreaLink 1d border TD long BorderLine NEDO 3 34 TUT BorderLine E Pl rts
37. Eclipse Public License 1 2 Eclipse Eclipse Public License 1 EE Public License PCT WO EE H20FY 0 0 0 0 1 0 H21FY 0 0 0 0 3 0 H22FY 0 0 0 0 9 0 H23FY 0 0 0 0 3 1 Patent Cooperation Treaty 1 20 12 5 9 RtcHandle m
38. H 2 2 22 WERE No 1 OS Windows WindowsXP SP3 2 OpenRTIM aist 1 0 0 RELEASE C 3 omniORB 4 1 4 4 RT SystemEditor RTC 2 3 H K 2 3 No gU 1 Bumblebee2 PointGrey BB2 0882C 25 XGA 110 2 Top URG UTM 30LX 3 PeopleBot MobileRobots 4 Pioneer3 DX MobileRobots NEDO 1 Bumblebee2 Bumblebee2 PointGrey Bumblebee2 2 4
39. RTC RT SytemEditor RTC reset RTC 149 NEDO g
40. 3 6 1 1 http www w3 org TR pronunciation lexicon 8 16 8 16 19 2 9 W3C Pronunciation Lexicon Specification No 1 lexeme 2 grapheme 3 phoneme 2 W3C Speech Recognition Grammar Specification http www w3 org TR speech grammar W3C 8Speech Recognition Grammar Specification XML
41. uter Scientists IMECS 118 126 Hong Kon g March 2009 2009 3 30 2009 IEEE Workshop o Perceptual system for 1 Masuta and N K n Robotic Intelligence 1 ntelligent service robot ubota n Informationally Struc by using a three dime tured Space pp 121 1 nsional range camera 28 2 1 2009 4 Journal of Robotics Service System Adap Yusuke Fukusato Eri d Mechatronics Vol 21 ted to Changing Envir sato Simokawara No4 pp 443 452 200 onments Using Kuka ru Yamaguchi and M 9 nchi akoto Mizukawa 2009 5 16 Proc of IEEE Internati Laser based Geometric Ryo Kurazume Yusuk onal Conference on Ro Modeling using Cooper Yukihiro botics and Automation ative Multiple Mobile ata Kai Lingemann pp 3200 3205 Robots Yumi Iwashita Tsuto mu Hasegawa 2009 5 25 LRF 2709 CD ROM 1A1 E1 3 2009 5 25 LRF
42. 2008 12 6 512008 2009 3 6 D IA2009 2009 5 12 Proc ICRA 2009 Robust Stereo Based Person Detect J Satake and OJ Workshop on Perso ion and Tracking for a Person Foll Miura n Detection and Tr owing Robot acking 2009 5 21 Proc 2009 IAPR CIMulti Person Tracking for a Mobil O J Satake and J onf on Machine Vile Robot using Stereo Miura sion Applications MVA 2009 2009 5 25 2009 P HR 2009 5 26 2009 Bj 2009 5 26 2009
43. EEEE i E i S 1 MEDI once T M IE 1 EE nn IRR IR 1 1 3 1 3 1 1 3 2 1 3 3 1 4 1 4 1 1 4 2 1 5 1 5 1 1 5 2 MEET D D IL eMe 10 29 Uso PR E 11 PAS dep ee a cushions 11 aed 17 CIT estrena 18 sm REM Cem 18 DX PRICE I CMM 19 3 8 BUMBLEBEE2MODULECOMP kk 42 mulo HD UU Cd dU ud A Uu td a aaa asa 42 8 823 ei tasted RR ERR th ua eS tdt 43 dopo paucae s OCTO as RM eene ds tend 44 3 4 GHOWIMAGECOMP ies nr RE RE ea Fr d 46 Sa 46 9423 E r E o n S 47 348 ard te aa rr 48 3 5 STEREOIMAGEVIEWERCOMP RA 49 vor o Oe NO SUPE 49 ET A 50 NEDO
44. IE DI 8 28 NEDO EnvironmentSimulatorComp DataInPort robotControlInfo DataOutPort rangedata DataOutPort robot state lt lt DataOutPort gt gt robot velocity DataOutPort peopledata lt lt 8 gt gt AbsoluteMapService ServiceProvider RelativeMapService lt lt 8 gt gt AreaInfoService E 3 24 EnvironmentSimulatorComp 3 122 EnvironmentSimulatorComp RTC OS Wi
45. 3 2011 11 9 12 M c 1 2008 6 5 7 H RT 2008 ROBOMEC2008 2008 7 29 31 11 Xr H BA BR RLLGBT LoON EC MIRU2008 2008 9 9 1
46. lt 4 n n 45 2010 3 H 49 E 2010 6 H 14 16 H 2010 ROBOMEC2010 2010 6 14 16 2010 ROBOMEC2010 SEHE 5 2010 6 14 16 H 2010 ROBOMEC2010 Spatiograms amp
47. URL 21 9 18 RTC http robonable typepad jp news 2009 09 20090917 rtcrtc html 21 9 18 RTM http robonable typepad jp trendwatch 2009 10 rtm 4e27 html 22 1 5 RTC http robonable typepad jp news 2010 01 05fujisoft htm 22 9 27 RT http Www robonable jp news 2010 09 2 7fsi html 1
48. V NEDO t t 5 6 SDLEngine 5 4 5 4 GripService bsh SubTalkstartFlag false double object pos new double 12 boolean find flg true int L R kind 0 0 1 boolean Grip flg false boolean Listener flg true NEDO SDL
49. NEDO No 15 robot move error x double 0 0 X m 16 robot move error y double 0 0 Y m 17 robot_move_error_heading double 0 0 degree 18 range start position double 30 0 degree 19 range position double 210 0 THAE degree 20 range_data_num int 480
50. Human Factors Development of interest Group Configural Display to 23 1 20H Support Teaching WH Bes Seminar at the j Operations to Industrial University of Toronto Robot ET HER 23 3 14 2011 Dun M E H S PARES H Pe y NA F 8 8 20 EMT IE CRUS 86 gt Nt Jes qe 5 28 de 2011 NG
51. public abstract class Thread main extends Thread public String sentence public int getValue public void Thread_main tGetEvent NEDO text_in sdlEngine local ports SDLEngineO text in addListener new kyutech SRP Scripting InPortListener dataReceived event print Listner flg Listener flg print Grip flg Grip flg if Listener flg if Grip_flg if C L R kind 1 if match event getValue data zk LR kind 1 if match event getValue data 2 L R kind 0 Jelse String sentence SubvoiceChk event getValue Q data tGetEvent new SubvoiceChk20 tGetEvent sentence sentence tGetEvent start
52. 2 5 7 EE 5 6 pS ps ps qe m mb m wm ps 3 Tm um 95 NEDO 5 7 1 2 8 5 4 5 90 6 f 7
53. SI2010 H pk 23 LH H Es 195 552010 99 JE BH 0 DAE A RTC 19 RTC 28 3P3 5 2010 9 100 XE 3 GPS 28 1F3 1 2010 101 3 GPS GPS
54. RTC z mo 11 27 3D1 05 2009 9 p E Z EA RTC 14 ui RT Middleware 10 SI2009 3B2 1 2009 12 22 3 9 Segway RMP200
55. b Select Camera Camera Serial Resolution Number of cameras detected Selected Camera Information Bus Mode Sensor Max Speed sync lsoch Lancel Configure Selected X 6 1 148 NEDO 3 RTC 4 RTC 0
56. 2008 7 2008 9 26 H 2009 05 WARR ES SES WES 2009 09 Constructing R Jaeil Choi Yas T component for ushi Mae Hidey GPU based SIFT F lasu Takahashi eature Extractio Kenichi Ohara n Tomohito Takubo Tatsuo Arai 2009 09 Multi Surfaces S Amr Almaddah Y IFT Matching by lasushi Mae Tat Stereo Vision suo Arai Kenic hi Ohara Tomoh ito Takubo 2009 10 The 2009 IEEE RS Interoperable RT Jaeil Choi Hid J International Component for 0 eyasu Takahashi Conference on In bject Detection Yasushi Mae telligent Robots land 3D Pose Esti Kenichi Ohara and Systems IR mation for Servi Tomohito Takubo 082009
57. H 2 1 2 1 No RES P SUAE 1 PointGrey Bumblebee2 Bumblebee2ModuleComp Bumblebee2 e N BK howI ShowImageComp StereoImageViewerComp 2 Top URG URGDataFlowCompComp 3 Bumblebee2 PeopleTrackingV2Comp n NN PeopleTrackingTestCom d 4 LocalizationComp x d SimpleGlobalMapLoaderCo
58. M 1D2 08 2009 9 15 27 AME K CD ROM 1 R3 03 2009 9 16 27 2009 9 16 IWI2009 WI IAT2009 Visualization Cube Mo Y Takama T Yamad 1 4 2009 deling Interaction for Exploratory Data Anal ysis of Spatiotemporal Trend Information 2009 9 17 27 8 CD ROM 3 F2 04 RT 2009 9 17 27 1 CD ROM 3 F2 05 RT 2009 9 17 27
59. URL 4 2 4 2 OpenRTM aist URL http www openrtm org openrtm ja content openrtm aist 100 releaseftoc2 OpenRTM aist 1 0 0 RELEASE vc9 100212 msi http www openrtm org openrtm ja content windows 2012 2 1 URL b JRE OpenRTM aist Tool RT SystemEditor Java JRE Java Runtime Environment JDK Java Development Kit URL 430 Xx 43 JRE URL
60. No 30 simulate people int 1 0 31 simulate_skip int 1 0 92 1 uoa following target id x 4 EnvironmentSimulatorComp a 3 181 No 1 rtc conf 2 Field txt 3 Mensa txt
61. m HI yp E zu di BA 4 HI E 12 202 5 2011 12 E
62. LRF RTC 2 2012 Journal of Rob IRTMEXTender Developper Suppor otics and Mech t Tool for OpenRTM atronics 3E 3 2009 2011 2009 6 24 149868 7557 4 2009 1 H 12 H n v RE NEDO 2009 11 25 28 5 Ti NEDO
63. RT 2 3 II RT OKE Q Web http robotics naist jp nedo _ project 1
64. NEDO No 26 WARN createMDMS Invalid value ld Default value 44 used 27 WARN createMDMS Invalid value ld Default value 725 used 28 WARN createMDMS Invalid value 96ld Default value 5 used 29 WARN createSS Invalid value 1d Default value 19200 used 30 WARN createCR Invalid value 1d Default value 00 used
65. id B id H PathPlannerV2Comp D PathPlannerV2Comp 103 NEDO X 8 186 No 1 PeopleTrackingSe PeopleTrackingSer MREC PeopleTrackingS rvice vice ervice 2 RelativeMapServi RelativeMapServic MREC RelativeMapSery ce e ice 3 137 MRFC PeopleTrackingService I F No 1 getTrackingData
66. No ERROR RTC_LRSServicehmpl lt lt gt gt position invalid value ERROR RTC_LRSServiceImpl lt lt 4 7 scan interval invalid value ERROR RTC_LRSServiceImpl lt lt 44 7 data grouping number invalid value ERROR Start Measurement Error lt lt Z gt gt 10 ERROR lt lt gt gt failue of powre off 11 ERROR lt a FZ gt gt failure of start measurement 12 ERROR resetSensor f
67. a omniORB Open rtm aist 1 0 0 C omniORB omniORB OpenRTM aist omniORB omniORB b OMNI ROOT Start Naming Service RTM_ROOT bin rtm naming bat omniNames exe 28175 omniNames exe OMNI NAMES OpenRTM aist OMNI_ROOT mi OMNI ROOT
68. CD ROM 3 A2 02 2009 9 17 2 7 F 1D3 02 2009 9 27 Proc of The Ninth Asi Model based 3D Object Maruyama Y Ka an Conference on Com Localization Using Oc wai F Tomita puter Vision ACCV200 cluding Contours 9 MP3 20 2009 9 29 21 62 09 2P 11 fe 2009 9 30 17 Pe WE fen 2009 10 12 Proc of IEEE RSJ Int Conf Intelligent Robo ts and Systems IROS 2009 pp 1830 1837 Easy and Fast Evaluat ion of Grasp Stability by Using Ellipsoidal A pproximation of Frictio T Tsuji K Harada K Kaneko
69. 2009 Neo Ee Sian x 2009 li 2009 05 f GERBUD NEO E 2009 05 OpenRT Platform RT 2 2009 2009 05 OpenRT Platform RT mhi 2009 05 2009 2009 05 2 2009
70. 2709 CD ROM 2A2 A1 9 2009 5 26 2709 CD ROM 2 2 0 1 6 2009 6 22 vol21 Nob Dynagent HTN 856 869 2 2009 7 IEEE ASME Planning Footsteps in Yasar Ayaz Atsushi International Obstacle Cluttered Konno Khalid Muna Conference on Advanced Environments war Teppei Tsujita Intelligent Masaru Uchiyama Mechatronics pp 156 161 2009 7 20 12 M MIRU200 9 151 68 2009 7 22 12 MIRU200 3 9 153 38 2009 7 22 12
71. 58 59 60 61 62 63 64 65 66 67 68 69 2010 gt 70 NE m 10 E 3D4 3 2009 E B H SI2009 12 RTC CANopen 15 pp20 26 3 15 16 2009 3 ROBOMEC2009 1A1 D13 2009 5 H 1 ROBOMEC2009 1A1 E20 2009 5 GE pk 22 3
72. M amp s s 1 nb E 2 SDLEngine SDLEngine Eh mra 38 81 nul 3 a OpenHRI RTC C b OpenHRP3 OpenHRP3 GrxUD Xl OpenHRP3 C 4 C NEDO 6 61 BOpenHRI Bj3 2 F 777v B SDLEngine
73. carPoint carPos i j hgMat k k carPoint elbow elbow sdlEngine local ports uni tName armService Middle moveLinearCartesianAbs carPoint if wait true while armisMoving unitName f SleepTime 200 gripo Listener_flg false env handles MarkerRecognitionO rtc activate sdlEngine local ports recognition service setModel ID 1 Grip flg true L R kind l double reqDbl_ new double 7 VclMoveLinearAbs 0 0 0 0 0 0 regDbl 0 0 reqgDbl 1 10 reqDbl 2 0 regDbl 3 0 regDbl 4 0 reqDbl 5 0 regDbl 6 0 movePTPJointAbs regDbl right false movePTPJointAbs regDbl left false LumbarmoveCooperati ve 0 0 10 0 10 0 false VclMoveLinearAbs 600 0 600 0 130 0 kitTalk true Listener_flg true while LR kind 1 Listener_flg false ifC LR kind 0 kitTalk false sdlEngine local ports recognition service setModel 1D 0 Jelse kitTalk false sdlEngine local ports recognition service setModel 1D 2 SleepTime 400
74. pp 1443 1445 2009 12 10 pp 145 0 1452 2009 12 24 10 2009 p p 1718 1721 Jo 2 2009 12 25 10 pp 570 571 2009 12 25 10
75. error c IS TimedVelocity2D BA IIS TimedVelocity2D f HT LE K 3 7 IIS TimedVelocity2D NEDO tm 1d ID data error RTC Time sequence lt long gt RTC Velocity2D sequence lt double gt 3 8 IIS TimedVelocity2D tm id ID data Xd Y
76. 2009 2009 05 20 OpenRT Platform mi Pr 21 i 23 25 26 27 28 29 7 2009 30 CENA OpenINVENT 2 0 0 22 2009
77. boolean armisMoving String unitName f return boolean sdlEngine local ports unitName armService isMovingO movePTPJointAbs double posArm String unitName boolean wait rtn sdIEngine local_ports uni tName armService Middle movePTPJointAbs posArm if wait true while armisMoving unitName f SleepTime 200 a ArmMoveLinearAbs double posArm double elbow String unitName boolean wait CarPosWithElbow carPoint new RTC CarPosWithEIbow double hgMat SubCarpas2HgMat posArm carPoint carPos double 3 4 int k 0 for int i 0 i lt 3 1 for int j 0 j lt 4 j NEDO
78. Web 2012 2 2012 4 15 6 1 2008 2009 1 2 RoboCup2009 2009 RT 3 RoboCup2009 2009 7 RT 4 2009 NEDO 1SWG 2009 11 25 28
79. 3 SuperMarkt txt b rtc conf rtc conf EnvironmentSimulatorComp k 4 1 3 2 c Field txt HieldDataHile d Mensa txt HieldDataHile e SuperMarkt txt HieldDataHile 3 16 PathPlannerV2Comp 3 16 1 PathPlannerV2Comp planning_ img RTC
80. gt gt gt gt gt gt gt gt 2 omniNames exe TMP 2 CXtemp TEMP rtm naming bat set cosnames omninames set orb omniORB set port 1 rem set OMNIORB USEHOSTNAME localhost set PATH PATH 0MNI_ROOT bin x86_win32 set TEMP C temp
81. 6 2009 11 J 24 2009 266808 IDEC E FHA s gt x ny 7 2009 11 24 2009 266809 IDEC E X gt ALZA gt e 8 2009 11 H 24 2009 266810 IDEC
82. PRMU2008 199 2009 2 In L C Jain and N Towards Real World H Hisashi Hayashi Seiji T Nguyen Eds Kno TN Planning Agents Tokura and Fumio wledge Processing and Ozaki Decision Making in Ag ent Based Systems Ser ies Studies in Comput ational Intelligence V ol 170 Springer pp 1 3 41 2009 3 12 20094E3 17 14 TEAM 20094 E3H 20 The IAENG Internation al Conference on Artific ial Intelligence and App lications in the Interna tional MultiConference of Engineers and Comp Handling Emergency G oals in HTN Planning Hisashi Hayashi Seiji Tokura Fumio Ozaki and Tetsuo Hasegaw a
83. 3 55 2 3 56 at 3 57 2 3 58 3 59 2 3 60 z 3 61 3 62 z 3 63 X 3 64 3 65 2 3 66 3 67 2 3 68 3 69 3 70 8 71 z 8 72 z 3 73 3 74 3 75 3 76 3 77 2 3 78 3 79 2 3 80 z 3 81 ae 3 82 3 83 X 3 84 3 85 3 86 3 87 2 3 88 2 3 89 3 90 dro de sS ttu naa 61 Laud qu MM m m MM MM M M m ua MS 27 NOH EE zm LIA Eu EET En ES 61 URGDataFlowCompComp 52 URGDataFlowCompComp 58 RD E 54 We Gue 54 SensorRTC LaserRangeSensor idl LRSService 54 BL CUIU A S UO END VN hi 56 M Ue 57 TUM hh 57 PeopleTrackingV2Comp TM PL uaa das 59 PeopleTrackingV2Comp 7 Z Z EU qe E easecdiuetentxset 59 zd eDim E 60 adii EQ cc 60 E 23 P iU cub ea 60 MRFC PeopleTrackingService I ZE ff _ aa 60 M utet cd nl ama h 61 Vd DUI m C TE 61 PeopleTrackingTestComp uo NB pu Einaudi 62 PeopleTrackingTestComp 63 AN NA USE
84. 3 onExecute 1 1 4 onDeactivated 5 onAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged mE 11 onStartup 12 onShutdown NEDO 3 11 3 1 SLAMComp 394 No HH 1 RangeData SensorRTC Laser corba_cdr LRF RangeSensor idl TimedMeasure dData 2 RobotPose IIS TimedPose2D corba cdr 3 Image TUT TimedImage corba_cdr
85. lt lt DataInPort gt gt lt lt DataOutPort gt gt start path gt lt lt DataInPort gt gt DataOutPort gt message goal ServiceConsumer gt gt ArealnfoService Ed 3 37 GlobalPathPlannerComp 3 155 GlobalPathPlanner RTC OS WindowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 10Hz 1 0 0 10 117 NEDO 3 20 2 GlobalPathPlannerComp 3 156 GlobalPathPlannerComp No 1 onInitialize
86. 6 MREC TimedRelativeOGMapData octed 7 MREC TimedFloatRelativeOGMapData float 8 MREC TimedPeopleTrackingData 9 MRFC TimedAbsoluteOGMapData octed 10 MRFC TimedFloatAbsoluteOGMapData float 11 TUT TimedImageData 12 TUT TimedStereoData 13 TUT TimedAreaInfo 14 SensorRTC LaserRangeSensor idl Time dMeasuredData 15 SensorRTC LaserRangeSensor idl Time dStatus 16 SensorRTC LaserRangeSensorzidl LRS LRSService ServiceException 3 3 NEDO
87. 53 INFO setBaudRate BaudRate OK 54 INFO setMotorSlowRate Motor slow rate OK 55 INFO setSensitiveMode Sensitive mode OK 56 INFO startMeasurement Measurement starts 57 INFO Power off 58 INFO receiver Command accepted zi 59 INFO setParams n 60 INFO Start position lt lt gt gt nl 61 INFO End position lt lt gt gt nu 62 INFO
88. No 1 getAbsoluteOGMapConfig RTC OGMapConfig 2 getAbsoluteOGMap MRFC TimedAbsoluteOGMapData Double X Double Y unsigned long unsigned long 3 getFloatAbsoluteOGMap MRFC TimedFloatAbsoluteOGMapData double X double Y unsigned long unsigned long b SimpleGlobalMapLoaderComp NEDO 3 SimpleGlobalMapLoaderComp d 8 90
89. NEDO J2 direction J6 Angle 55 J7 direction 4 se J1 J2 ED 1 4 e 1 4 NEDO 15 1 5 1 OpenHRI OpenHRI 0 74 EZIZ Eclipse Public License EPL http www eclipse org legal epl v10 html OpenHRI Julhus Open JTalk 1 5 2
90. TH 2009 11 22 5 TV 2009 11 25 Web 2009 11 Channlel TRONSHOW2010 2009 12 9 2009 12 25 30 2010 1 3 TV Bor IE 2010 4E 3 H 12 TV 2010 1 3 Web http spectrum ieee org 2011 3 18 Japan Earthquake More Robots to the Rescue Web 2010 3 19
91. 2A1 F22 A 2010 6 16 2 UAE SITE T 2010 2A1 F20 2010 7 22 Journal of Robotics An Extensible Dialogue Yosuke Matsusaka Hir rticle ID 301923 14 p Script for a Robot Ba oyuki Fujii Isao Har ages sed on Unification of a State Transition Model S 2010 7 23 13 NLC pp 69 74 2010 7 27 MIRU2010 3 1S1 35 pp 276 283 2010 7 28 MIRU201
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100. 2010 2 C 76 762 p 331 339 2010 2 26 3 VVV ES 8 2010 3 15 PRMU fh 3k Vol 109 No 470 p p 25 30 2 2 2010 4 1 Journal of Robotics an Grasp Planning for a T Tsuji K Harada d Mechatronics Vol 22 Multi fingered Hand Kaneko F Kanehi No 2 pp 230 238 th a Humanoid Robot ro Maruyama 2010 6 1 V RT ol 28 5 pp 22 23 2010
101. 26 2008 RSJ2008AC2L1 01 CD ROM 11 26 2008 RSJ2008AC2L1 02 CD ROM 12 NEC NEC OpenRT Platform RT 26 2008 RSJ2008AC1F1 04 CD ROM 13 Noriaki ANDO AIST Takashi SUEHIRO AIST Tetsuo KOTOKU AIST A Software Platform for Component Based RT System Development OpenRTM Aist International Conference on SIMULATION MODELING and PROGRAMMING for AUTONOMOUS ROBOTS SIMPAR 2008 pp 87 98 2008 11 Venice Italy ISSN 0302 9743 14 RTC Specification 1 0 RT OpenRTM NET 1 0 25 9 2008 SI2008 2008 12 15
102. RT SystemEditor cy Start Naming Service x B 42 ru Mm E EDEA OOTI UFO URL http openrtm org openrtm ja content E5 8B 95 E4 BD 9C E7 A2 BA ES8 AA 8D windows E7 B7 A8 23toc11 23toc11 23toc11 23toc2 toc2 2012 2 1 URL 131 42 421 PointGrey Bumblebee2 PC 1 Bumblebee2 Bumblebee2 Bumblebee2ModuleComp PeopleTrackingV2Comp m 4 22 Top URG URB2 0 PC
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105. 2010 ROBOMEC 2010 in ASAHIKAWA 5 http www sec co jp news 20100610 html 2011 5 926 2011 ROBOMEC 2011 in OKAYAMA 2 http www sec co jp news 20110526 html NN 29 http www sec co jp news 201 2012 2 H 24A NEDO CECE http www sec co jp news 20120224 html 2012 2 H 24A http www sec co jp news 20120224 2 html 2012 2 24 http www sec co jp robot
106. DataInPort lt lt DataOutPort gt gt RangeData EstimatedPose lt lt DataInPort gt gt lt lt DataOutPort gt gt RobotPose PosePair gt lt lt ServiceProvider gt gt mage AbsoluteMapService DataInPort StereoData RB 3 17 SLAMComp i 3 92 SLAMComp RTC OS WindowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 OpenCV 2 1 200Hz 1 0 0 0 NEDO 3 11 2 SLAMComp x 3 93 SLAMComp No 1 onInitialize 2 onActivated
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113. WF OpenRTM 2009 rH p 8 Rp RT 2009 05 2009 05 26 EKM Js ERI KEA 2009 05 31 Isa
114. MIRU200 9 IS3 40 2009 8 20 Journal of Robotics an Supporting Robotic Act Kouji Murakami Tsut d Mechatronics Vol 21 ivities in Informational omu Hasegawa Ryo No 4 pp 453 459 ly Structured Environ Kurazume Yoshihiko ment with Distributed Kimuro Sensors RFID Tags 2009 8 21 Proc 2009 IEEE Inter Home Appliance Comp Toshiyuki Kusunoki national Conference on Fuzzy Systems pp 14 92 1495 2009 onents using RT Middl eware Development o f the Interface and an Kazuyoshi Wada and Hayato Takayama Example System 2009 8 22 FUZZ IEEE2009 pp 147 Domestic Robot Service Yusuke Fukusato Sho 4 1479 based on Ontology ap ichiro Sakurai Silian p ying Environmental g Wang Eri Sato Shi Information mokawara and Toru Yamaguchi 2009 9 4 Proceedings of the 11th Speech Understanding Kazutaka Shimada Conference of the Pac a Multiple Recogniz kira Uzumaki Mai ific A
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130. RT ISBN 10 4839929009 ISBN 13 978 4839929008 e 2009 64 SE RT ThinkIT http thinkit co jp article 950 1 3 2008 6 11 OpenHRP3 2008 12 5 SI2008 OpenHRP3 2009 FOOMA2009 2009 6 9 2009 6 12 2009 6 11 ERI OpenHRP3 2009 12 5 SI2008 OpenHRP3 IROS2009 OpenRTM aist 2009 4 RT 2010
131. Julius 1 4 OpenJTalk 1 5 PortAudioOutput 1 6 VehicleServiceProvider 1 NEDO MWATAYT2TVO 4 4 2 4 2 4 2 No 1 OS Windows WindowsXP Z Windows 2 Java Developer 1 6 0 23 http java sun com javase ja 6 download html Kit JDK 32bit Python 2 6 4 http www python j p VisualC 2008 http www microsoft com japan msdn vstudio Express Edition 2008 product express OpenRTM aist 1 1 0 RC2 http www openrtm org openrtm ja 3 Python 1 0 0 RELEASE C 1 0 0 RELEASE Java 4 OpenRTM Eclipse 1 0 0 RELEASE RTCBuilder tools RTSystemEditor
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143. 4 4 OpenCV2 1 OpenCV2 2 URL http sourceforge net projects opencvlibrary files opencv win OpenCV2 2 OpenCV 2 2 0 win82 vs2010 exe OpenCV2 1 OpenCV 2 1 0 win32 vs2008 exe http www java com ja download help windows manual download xml 201242 1 URL 4 FlyCapture 1 8 FlyCaputre FO URL 4 5 FlyCapture URL http www ptgrey com support downloads download asp flycapture 1 8 3 26_x86 exe 2012 2 1 URL 5 Triclops 3 2 Triclops URL
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147. http jp fujitsu com group qnet release 2011 0907 html 2012 02 H 14 1 T Je 1 2008 6 7 2008 2008 10 23 PRMU2008
148. n Cone 2009 10 12 2009 IEEE Internation The Intelligent Control Masuta and N al Conference on Syste based on Perceiving A ubota ms Man and Cyberne cting Cycle by using 3 tics D range camera 2009 10 30 Proc Int Conf Ubiqui Identification of Types Yusuke Tamura Yu tous Robots and Ambie of Obstacles and Obsta Murai Hiroki Murak nt Intelligence pp 340 cle Map Building for ami and Hajime Asa 344 Mobile Robots ma 2009 11 29 Proc IEEE SICE Int Detection of Change in Hidetaka Koseki Symp System Integrati the Number of Huma hiro Morishita and H on pp 95 100 ns in a Monocular Ima ajime Asama ge Sequence for Pedest rian Motion Tracking 2009 12 IEEE RAS International Footstep Planning for Yasar Ayaz Takuya Conference on Humanoid Robots Owa Teppei Tsujita Humanoid Robots pp Among Obstacles of Atsushi Konno Khali 361 366 Various Types d Munawar and Mas aru Uchiyama 20094E12H 16 International Journal of Background sensing co Hisashi Hayashi Seiji Intelligent Information ntrol for planning agen Tokura Fumio Ozak and Database Systems ts working in the real i and Miwako Doi Inderscience Publishers world vol 3 no 4 pp 483 501 2009 12 10
149. 13 Thailand Rescue Robot Championship 2010 2010 12 the BEST AUTONOMOUS 14 RoboCup2010 2010 5 15 2011 9 15 TERME 3 15 3A1 2010 3 4 4 2 2010 073386 2010 03 26 NEC Y7 3 4 4 3 Table 1 Table 1
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173. lt IT 12 2011 6 H 29 40 IDEC 13 2011 8 25 IEEE CASE2011 Long Term Operational Experience with a Robot Cell Production System Controlled by Low Carbon Footprint Senju IDEC
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177. 2009 11 20 RT 2012 1 27 ROBOSSA 2012 2 23 2009 12 23 2009 12 25 TR RTC http www openrtm org openrtm Ja project NEDO In telhgent_ 10396 RTC http openrtm org openrtm Ja project NEDO Intelligent ID121 http fortune is kyushu u ac jp r city j html AH http www openrtm org openrtm Ja project NEDO In telligent
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179. 4 Dumy_velocity_dataComp a d 3 154 1 rtc conf No EU b rtc conf rtc conf Dumy velocity dataComp 4 1 8 116 3 20 GlobalPathPlannerComp 3 20 1 GlobalPathPlannerComp GlobalPathPlannerComp
180. 2009 9 15 27 E CD ROM 1 UID D2 05 2009 9 15 27 CD ROM 1 D2 07 2 2008 9 15 27 CD RO T
181. NEDO 3 11 MRFC TimedEstimatedPose2D tm RTC Time id ID seduence lt long gt ododata 4 F2 k 9 RTC Pose2D estdata RTC Pose2D error RRN EZI sequence lt double gt 3 12 MRFC TimedEstimatedPose2D A t ododata estdata TONERI error id ID f MRFC Timed
182. Please input file name to create a mot ion file 3 27 make MotionSet exe test mtn test mtn e lest min B 3 28 10 not on num motion num 10 Ed 3 29 Fil R mm V mm sec R 0 R 0 V 100 j IE 108 NEDO BE 3 30
183. i5 E E K DN MET 2010 7 H 2010 9 H 27 29 H 22 24 13 MIRU2010 28 RIS FA U 7 C A AN a B UE zi IS sue beli 2010 9 H H 22 24 28 A X A Jit DP r KRK 2010 10 H H 4 6 International Conference on Advanced Mecha tronics 2010 Data Communicat ion Support fo r Reusability of RT Component Tsuyoshi Suena ga kemura Kentaro Ta Jun Ta kamatsu and Ts s Converter Classification and Prototype Supporting Tool ukasa Ogasawar a
184. mapconfig cells float k TUT TimedlmageData TUT TimedImageData 3 25 TUT TimedImageData tm RTC Time data TUT ImageData NEDO 3 26 TUT ImageData OpenCV IplImage nChannels Fy 217 depth 1 origin IH Z 2 DIR width Wf 0545575 8 OD SRA height MADRES 8 Ss imageSize E7 03 4 imgData widthStep long long long long long long sequence c
185. 6 1 13 EnvironmentSimulatorComp No 1 ERROR Component create failed 2 WARN Start to build spatial network Number of generated Subareas lt lt gt gt Number of optimised Subareas lt lt gt gt 3 INFO Start Initialization 4 INFO Finish Initialization 5 INFO The end of Simulation 1 Total Execution Time lt lt gt gt s Required Time per cycle Average lt lt gt gt ms cyclel Maximum lt lt gt gt msl Minimum lt lt gt gt msj 6 INFO STEP lt lt gt gt 7 INFO Number of persons lt lt gt gt 8 INFO Triangules are merged into convex polygons 9 INFO Start to load environment data
186. continuous_output 0 0 deactivate_to_stop 1 continuous_output HJ L C Dummy2PosesSenderComp 3 160 No 1 start_x double 0 0 start_pose XX 2 start y double 0 0 start pose Y 3 start heading double 0 0 start pose 4 goal x double 0 0 goal pose XX 5 goal y double 0 0 goal pose Y 6 goal heading double 0 0 goal pose 7 continuous_output int 0 0 1 8 deactivate_to_stop int 1 0 4
187. 0 255 OpenCV PNG 3 15 3 15 SimpleGlobalMapLoaderComp lt lt 8 gt gt AbsoluteMapService 3 16 SimpleGlobalMapLoaderComp 3 86 SimpleGlobalMapLoaderComp RTC OS WindowsXP Pro SP3 RT 3 Open rtm aist 1 0 0 C Visual studio 2008 OpenCV 2 1 1Hz 2 027 1 0 0 10 NEDO 3 10 2 SimpledlobalMapLoaderComp 3 87 SimpleGlobalMa
188. 1 0 3 W3C SRGS Speech Recognition Grammar Specification W3C 4 W3C PLS Pronunciation Lexicon Specification W3C T Pi T E 5 Ver3 0 SDLEngine 6 BeanShell http www beanshell org Pat Niemeyer 7 1 0 NEDO 8 1 0 9 RTCVer2 0 2 0 10 RTCVer2 0 2 0 RTCVer3 0 3 0
189. 19 ERROR onActivated failure of set motor slow rate 20 ERROR onActivated failure of sensitive mode 21 ERROR onActivated failure of start measurement 22 WARN characterDecode length ld mode ld Length error HERT 23 WARN parseVV Default value used 24 WARN parsePP Default value used 25 WARN createMDMS Invalid value s Default value NORMAL used 138
190. SysML 6 13 16 Pr fin PER ig Eo JEFE CANopen Robomec 10 2A2 C08 2010 6 in T iE 1 6 H 22 1 6 H 13 16 H JH RTC Robomec 10 2010 6 13 1 16 H H i
191. 27 E 3D1 07 2009 RTC 10 27 3D1 07 2009 E 2 RTC 12 iPhone 27 2009 RTC 13 10 2B1 1 2009 CUR
192. Km n RATAT TUS Paar aba s 1 9 0 0 0 0 4 0 2 0 0 1 0 38 7 1 2 1 1 1 0 31 25 6 2 2 3 4 6 45 8 0 2 3 3 7 0 18 9 2 7 13 6 132 53 9 1 1 45 8 pp 406 413 2009 2 TR 28 8 pp 930 937 2010 3 AZ Linux RT Vol 46 No pp 16 23 2010 Masaharu Shimizu Nobuyuki Kita Toshihisa Saito Eijiro Takeuchi Yusuke Nakajima Naohito vm Un Takegawa Hiroki Igarashi Yasuo Hayashibara Hideaki Yamato
193. 11 2010 SI2010 2010 12 62 Pierre Gergondet Vol 29 No 8 pp 716 725 2011 63 Geoffrey Biggs E rtshell 3 0 T 2011 2011 05 64 2011 2011 05 65 ZERE REIF OMG Robotic Technology Component RTC Vol 29 No 4 333 336 2011 05 ONLINE ISSN 1884 7145 PRINT ISSN 0289 1824 66 Noriaki ANDO AIST Shinji KURIHARA AIST Geoffrey BIGGS AIST Takeshi SAKAMOTO Global Assis
194. 2 StereoImageViewerComp 3 StereolmageViewerComp 4 StereolmageViewerComp a d 3 56 No 1 b rtc conf rtc conf StereolmageViewerComp 4 1 83 3 57 rtc conf No 1 corba args ORBgiopMaxMsgSize 20000000 omniORB 3 6 URGDataFlowCompComp 3 6 1 URGDataFlowCompComp
195. 10 INFO Error File lt lt gt gt could not open 11 INFO Error Data format error 12 INFO Error Data could not create Need or 5 at number s back 13 INFO Error Wall data could not create C5 143 NEDO Data number error 14 INFO Error Entrance data could not
196. 2008 hip Irobomedia2006 blo g so net ne jp 2008 09 25 p RANT http robonable typepad j 7 ZERA cus 5 20 9 26 p news 2008 09 20080926 2011 2011 e html SL hik http www nikkei co jp n gt x EA LO 6 21 7 15 E p 7 7 NIKKEINET ews sangyo 20090715AT1 dota D1509015072009 html E Hii 2 http techon nikkeibp co i 31 7 15 pc E en TechOn jp article NEWS 2009071 5 173054 A NSR er S http journal mycom co j XJ ht ES n 8 21 7 15 cx S b s c ds ONE 7 p news 2009 07 15 068 r B t na http www morningstar c 9 21 7 15 MORNINGSTAR ojp StockInfo info snap 6 503 http response jp issue 2 10 21 7 15 Response 009 0715 article127344 1 html
197. sdIEngine rtc local component CSDLEngine SDLEngine RTC env rtc env localhost 2809 handles env get_handles Julius SDLEngine activate if handles JuliusRTCO rtc null env connect env handles SDLEngine0 rtc ports SDLEngine0 text_in env handles Jul iusRTCO rtc ports Jul iusRTCO result PortAudiolnput activate if handles PortAudiolnputO rtc null env connect env handles PortAudiolnputO ports PortAudiolnputO AudioDataOut env handles Jul iusRTCO rtc ports Jul iusRTCO data env handles PortAudiolnputO activate env handles JuliusRTCO rtc activate 0penJTalk SDLEngine activate if handles PortAudioOutputO null env connect env handles SDLEngine0 rtc ports SDLEngine0 text_out env handles OpenJTalkRTCO ports text env connect env handles SDLEngineO ports SDLEngineO status env handles OpenJTalkRTCO ports OpenJTalkRTCO status PortAudiolnput
198. JDK Java SE Development Kit 6u23 Oracle Binary Code License Agreement for Java SE Accept License Agreement idk 6u23 windows 1586 exe 3 4 JDK URL ECL gie SuSE http www oracle com technetwork java javasebusiness downloads jav a archive downloads javase6 419409 htmHEZjdk 6u23 oth JPR 3 5 K 35 JDK JAVA HOME JDK PATH PATH JAVA_HOME bin b Python K 8 6 URL 3 6 Python URL http ww
199. 5 5 1 EE 52 5 3 B 5 1 HARET J W Y M W es da EN J Z 2 la 3 USB OpenCV
200. pp 413 414 2011 3 14 16 t xt WE f 4 2 3 2011 4 Intelligent Service Rob Identification of Types Yusuke Tamura Yu otics vol 4 no 2 pp 99 of Obstacles for Mobile Murai Hiroki Murak 105 Robots ami and Hajime Asa ma 2011 4 1 Vol 2 3 No 2 pp 13 21 f 2011 5 27 ES 2011 4 pa SL geS AM 2011 5 27 2011 3 pa ges 2011 8 1 J94 D 8 pp 1314 1323 2011 9
201. 2009 PRMU pp 97 102 2009 10 9 S 2011 R PRMU pp 139 146 2011 05 10 2011 MIRU pp 765 772 2011 07 11 2 2011 Ur R PRMU 111 317 pp 117 124 2011 11 12 22 9 2011 09 2011 13 HERES 26 2008 RSJ2008AC2L2 03 14
202. 4 5 4 5 1 4 5 2 1 OpenHRPSDK a Visual C 2008 Express Edition X 448 URL 4 3 Visual C 2008 Express Edition URL Sie Sos 7 http www microsoft com japan msdn vstudio 2008 product express http go microsoft com LinkId 9348304 b PyYaml 4 4 URL X 4 4 PyYaml URL http pyyaml org wiki PyYAML Zw Sei IS go up http pyyaml org download pyyaml Py YAML 3 10 win32 py2 6 exe c Java3D API
203. Z 27 gie http www sec co jp robot download rtc html EU ez qeu ISTE Seu e SDLEngine grip zip NEDO 5 5 3 1 EE rtc conf H n 5 66 5 6 1 1 EE 5 1 5 2 hi nu
204. 2 PosePair MRFC TimedEsti corba_cdr matedPose2D 2 LocalizationComp b LocalizationComp d 8 82 No 1 AbsoluteMapServi AbsoluteMapServ MRFC AbsoluteMapServi ce ce ce NEDO 3 83 MRFC AbsoluteMapService FF No 1 getAbsoluteOGMapConfig RTC OGMapConfig 2 getAbsoluteOGMap
205. 2A1 G18 CD ROM 2010 H 10 2A1 G17 CD ROM 2010 PAH A r1 28 RSJ2010 3P3 2 2010 9 xt FE Ey In 9 H T 1 l 28 E 28 RTC CANopen 1 RSJ2010 RTC CANopen H USB RTC PnP RSJ2010
206. 5 ne E i Linux RT 9 SI2008 pp 881 882 12 5 7 2008 3 SICE 512008 RT RTC CANopen 9 SI2008 pp 677 678 12 5 7 2008 4 RoboCup2009 2009 5 5 RoboCup2009 2009 7 4 3 6 RSJ SICE JSME 15 XE E RTC CANopen 15
207. 5 2 7 20 9 26 8 21 10 1 F 2008 10 1 IS amp 9 20 10 2 8 Tu m Ay 10 20 10 8 Ejes ic es 11 20 10 7 9 12 20 10 10 13 20 10 15 15 90
208. Top URG Top URG URGDataFlowCompComp DataOutPort distanceOut lt lt 8 gt gt LRSService 3 8 URGDataFlowCompComp O 8 58 URGDataFlowCompComp RTC OS WindowsXP Pro SP3 Ubuntu10 0 4 RE a Open rtm aist 1 0 0 C VC C omniORB 4 1 4 100Hz 2 0 0 10 NEDO 3 62 URGDataFlowCompComp x 3 59 URGDataFlowCompComp
209. lt lt DataInPort gt gt lt lt ServiceConsumer gt gt peopledata RelativeMapService X 3 22 LocalMapViewerComp 8 115 LocalMapViewerComp RTC OS WindowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 OpenCV2 1 10Hz 1 0 0 0 NEDO 3 14 2 LocalMapViewerComp 38 116 LocalMapViewerComp No 1 onInitialize 2 onActivated
210. 0 2 ServicePortOutputType short int T B D 0 TsRobotCoord PeopleTrackingServicePort 0 4 PeopleTrackingV2Comp a d 3783 No 1 rtc conf 2 jibSVM_gray_and_HOG_model dat SVM 3 calibdata BB07 20081123 txt 4 depth_model b rtc conf rtc conf PeopleTrackingV2Comp 4 1 3 c libSVM gray and model dat SVM d calibdata_
211. TV 2010 3 12 TV Web http spectrum ieee org 2011 4E3 25 Japanese Robot Surveys Damaged Gymnasium Too Dangerous for Rescue Workers J WAVE 201045 J 5 J WAVE GOLDEN SPECIAL THINK THE FUTURE PHP 2010 9 24 2010 10 7 LIVE2010 n 3DOORS TV 2010 1 mu n 098 8 8 55 TRON TRONWARE 2010 12 H 2 T NE d gt
212. Triclops Triclops Triclops Software Development Kit SDK Manual Reference Triclops PointGrey http www ptgrey com index asp 2012 2 1 URL 5 ARIA ARIA GPL GNU General Public License MobileRobots http robots mobilerobots com wiki ARIA 2012 2 1 URL 6 Intel TBB IntelTBB GPL v2 GNU General Public License v2
213. m s 3 walkingrate std deviation double 0 1 m s 4 localmap width int 200 cell 5 localmap height int 200 cell 6 localmap scale double 0 05 m cell 7 globalmap scale double 0 1 m cell 8 following target id int 2 9 robot_tread double 0 3325 m 10 robot_acceleration double 0 400 m s2 11 robot_deceleration double 0 400 m s 12 robot init x double 3 5 XX m 13 robot init y double 1 0 Y m 14 robot_init_heading double 200 0 degree
214. 3 1 rtc conf 3 15 OpenRTM aist rtc conf eorba nameservers RTC NEDO 8 1 rtc conf corba nameservers localhost 5005 corba endpoint 127 0 0 1 naming formats n rtc logger enable YES logger log level PARANOID logger file name stdout exec cxt periodic rate 10 0 3 15 rtc conf No 1 corba nameservers host_name port_number 2809 omniORB 2 corba endpoint NIC ORB listen IP_Addr Port 3 naming formats
215. Y EE Ym gt JAVA JDK gt JAVA HOME bin gt Eclipse JavaVM JDK gt gt RISystemEditor RTSystemEditor reset Activate OpenHRP3 v won gt RTSystemEditor RTC
216. SDLEngine 3 5 NEDO 35 TalkService bsh SubTalkstartFlag false SDL sdIEngine rtc local component CSDLEngine SDLEngine RTC env rtc env localhost 2809 handles env get_handles Julius SDLEngine activate if handles JuliusRTCO rtc null env connect env handles SDLEngine0 rtc ports SDLEngineO text in env handles Jul iusRTCO rtc ports Jul iusRTCO result PortAudiolnput activate if handles PortAudiolnputO rtc znull env connect env handles PortAudiolnputO ports PortAudiolnputO AudioDataOut env handles Jul iusRTCO rtc ports Jul iusRTCO env handles PortAudiolnputO activate env handles
217. TV 2009 3 3 306 FOCUS NEDO 2009 5 8 2009 6 1 fuRo F Web Impress Robot Watch 2009 6 2009 XB TV 2009 6 H 10 TV 2009 7 19 2009 7 2009 UL nl TV 2009 10 3 V WINWING 2009 10 10
218. http www java com ja download manual jsp http javadl sun com webapps download AutoDL BundleId 58139 http www java com ja download help windows manual download xml 2012 2 1 URL 2 omniORB 4 1 4 omniORB OpenRTM aist1 0 0 Open rtm aist 1 0 0 C omniORBpy omniORB 126 NEDO 3 OpenCV2 1 OpenCV 2 2 OpenCV OpenCV URL 4 4
219. CANopen 10 SI2009 3D3 4 2009 12 RTC CANopen 10 SI2009 3D4 2 2009 12 RTC CANopen gt
220. IRT 2009 11 25 28 2009 2009 12 OML RT 2009 12 3 2 2010 3 15 16 15 IRT D BOF 8 heyva 2010 11 29 2
221. 1 12 n 1J4 3 2011 132 tav zem cc 14 2 2011 5 12 E m uj 2 5 SG
222. b rtc conf rtc conf ShowImageComp 4 1 3 3 5 StereolmageViewerComp 3 5 1 StereolmageViewerComp gt d 3 6 StereolmageViewerComp StereolmageViewerComp DataInPort Stereo 3 7 StereolmageViewerComp 3 53 StereoImageViewerComp RTC OS WindowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 OpenCV 2 1 10Hz NEDO 3 5 2 S
223. 188 1 Bamblebee2ModuleComp PeopleTrackingV2Comp exe 4 4 OK OK 4 2 1 Seleri Gamera Bumblebee 8520 EVET 1024068 Mumbar of cameras deiected Selected Camera Tiln mation DM Seng 1024792 Max 5400 Puynz 5400 ioch 5400 Camel Configure Selected 444 184 NEDO 4 3 2
224. 2 calibdata_BB07_20081123 txt 3 bumblebee8511440 cal 4 bumblebee8130511 cal b rtc conf rtc conf Bumblebee2ModuleComp i og 4 4 1 8 2 P Z 3 48 rtc conf No 1 corba args ORBegiopMaxMsgSize 20000000 omniORB NEDO c calibdata_ BB07 20081123 txt d bumblebee8511440 cal e bumblebee8130511 cal 34 ShowmageComp 3 4 1 ShowImageComp
225. 2 urg conf URG b rtc conf URGDataFlowCompComp 4 1 3 3 65 rtc conf No 1 Sensor URGDataFlowComp config file urg conf Top URG c urg conf Top URG 13 6 38 3 7 PeopleTrackingV2Comp 3 7 1 PeopleTrackingV2Comp Bumblebee2 K ID E Hiehl maer Ed 3 9 PeopleTrackingV2Comp PeopleTrackingV2Comp
226. Image Skeletonization for Gesture Recognition Hu E A 2011 6 23 15th Internati Achievement of Trapeze Motion onal Conferenc for Humanoid Robots Based on R X e on Advanced ealtime Ego Motion Moving Ob f Robotics Motions Recognition Alg J s orithm 2011 9 7 28 Anthony Issac iE SL mm 2011 12 8 2011 IEEE Inte Motion Generation for Human Ro OWH Z rnational Conf bot Collaborative Pick and Pla erence on Robo ce based on Non obstructing St tics and Biomi rategy metics 2011 12 20 2011 IEEE SICE An Actively Altruistic Mobile OaAnthonyIsaac International Symposium on System Integra tion Robot System for Identifying S omeone Who Looks Lost Using He ad Pose Tracking 4f BH 2011 12
227. MMM 11 SI2010 311 5 2010 12 2011 gt 115 RTC CANopen Robomec 11 1A1 H03 2011 5 116 RTC CANopen 2 Robomec 11 1A1 H04 2011 5 117 Robomec11 1A1 H05 2011 5 118 RE FH TRUE REPERTUS RTC CANopen Robomec 11 2P1
228. pp 1747 1750 2009 12 25 10 pp 1197 1200 gt M XE FUER Wp 2009 12 25 10 2009 p p 237 240 p EZOZ 2009
229. 2 B 3 RT 2011 Ux part2 3 S e 2009 F 10 RT e 2011 10 13 14 2011 e 2011 11 9 12 R 2011
230. 5 onAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged mE 11 onStartup NEDO 12 onShutdown NEDO 3 9 3 1 LocalizationComp d 3 80 No HH 1 RangeData SensorRTC Laser corba_cdr LRF RangeSensor id1 TimedMeasuredDa ta 2 RobotPose IIS TimedPose2D corba 3 Image TUT Timedtmage corba_cdr Data 4 StereoData TUT TimedStereo corba cdr Data b LocalizationComp x 3 81 No 1 EstimatedPose IIS TimedPose2D corba
231. Bj 2010 6 16 2010 E 2010 6 16 2010 OBBAS E 2010 7 28 MIRU2010 2010 8 26 Proc 20th Int Co Stereo Based Multi Person Trackin OJ Satake and J nf on Pattern Rec g Using Overlapping Silhouette Te Miura ognition mplates 2010 8 31 Proc 11th Int Co Development of a Person Following OJ Miura J Sata nf on Intelligent Robot and Its Experimental Eval ke M Chiba Y Is Autonomous Syste uation hikawa K Kitajim ms a H Masuzawa 20104 9H 7 Proc 2010 IEEE I Hierarchical SLAM for Uncertai K Kitajima M nt Conf on Multi sensor Fusion and n Range Data asuzawa OJ Miur a J Satake Integration for Int elligent Systems
232. E 9th International Conference n Inspection Planning of 18 20 5 21 Probabilistic Safety Safety Protective Systems Takehisa Kohda Hiroki Assessment and Tokunaga Management using Bayesian Networks PSAM9 RSJ2008AC1F2 01 Wu 26 19 MA RSJ2008AC1F2 02 M d n DN 20 20 9 9 i TUA BONES 7 MS H 5 as S 1E1 1 Keynotel2 aei 9 HBH 22 205124 8 P SI A 1E2 1 os wo g 9 HEEN SERA SI m 1E2 2 z acu 9
233. PRSE 128 NEDO TU ST e 1101 5851 INE BE Administrator ACTAE UT Ed t A RER 20 9802723 AEEA BEURRE 2 0 bw ERE iei ew HITLARI 2 311 809 HED IMEG Cr 3 PATH C tbb40_20111130oss bin ia32 vc9 ies V Hb XPATH 2 EH 2 7 gt Z K 0 8 CGAL3 7 CGAL C URL 49 CGAL URL http www cgal org download html CGAL 3 7 Setup exe 2012 2 1 URL 129 NEDO
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237. SDLEngine Java1 4 Java BeanShell 4 SDLEngine 1 SDLEngine 2 PortAudioInput Julius OpenJTalk PortAudioOutput 3 3 19 T m om X 3 19 No 1 2 3 4 5
238. http www openrtm org openrtm Ja project NEDO In telligent 10403 1 2009 9 16 27 Linux RTC 2009
239. m m NEDO i MRFC TimedAbsoluteOGMapData MREC TimedAbsoluteOGMapData octed octed 8bit C128 127 0 100 1 1 4 2 3 3 21 MREC TimedAbsoluteOGMapData octed tm RTC Time mapcon RTC OGMapConfig cells octed RTC OGMapCells 3 22 MRFC TmmedAbsoluteOGMapData 0 mapconfig
240. 1 onInitialize 2 onActivated 0 3 onExecute 4 onDeactivated 5 onAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown 115 NEDO 3 19 3 1 Dumy_velocity_dataComp b Dumy_velocity_dataComp 39 3158 No AU 1 Velocity IIS TimedVelocity2D corba_cdr 2 Dumy velocity dataComp 3 Dumy_velocity_dataComp
241. 13 INFO Best first search start route 144 NEDO 14 INFO BEST PATH and REUSE des 15 INFO Time for making Best Tree lt lt msec 16 INFO node for best path lt lt gt gt 17 INFO Route Search Computation time lt lt gt gt 18 INFO Build Path Start closest node lt lt gt gt 19 INFO build path lt lt gt gt node 20 INFO Memory consumption lt lt gt gt MByte 21 INFO calculation period for this step lt lt gt gt msec 22 INFO Total time lt lt gt gt m
242. 2010 9 24 28 RTOC Matthieu Boussa rd 2010 10 6 Proc 2010 Int Co People Movement Simulation in OA Shigemura Y nf on Advanced M echatronics ublic Space and Its Application to Robot Motion Planner Developme nt Ishikawa J Miur and J Satake 20104 10 H 19 Proc 2010 IEEE R SJ Int Conf on I ntelligent Robots a nd Systems Observation Planning for Environ ment Information Summarization with Deadlines H Masuzawa and OJ Miura 20104E 12H 24 812010 Z 2011 5 27 2011 20 amp VOTERS X Y Ir 2011 5 27 2011 A
243. 9 23 TV 1 20 9 25 SUN TV 14 55 2 20 9 25 TERR 025 Biz 17 13 3 20 9 25 BPO NEWS 18 17 18 54 4 21 7 15 18 00 18 10 18 08 5 21 7 15 NHK 18 10 18 59 18 18 6 21 7 17 KBS bizW 21 25 2 25 7 31 7 22 NHK 5 00 5 53 8 24 1 11 TBS 5 00 8 10
244. LocalMapViewerComp 8 118 No 1 RelativeMapServi RelativeMapServic MRFC RelativeMapServ Ce e ice 3 119 MRFC RelativeMapService I F tt amp No 1 getRelativeOGMapConfig RTC OGMapConfig 2 getRelativeOGMap MREC TimedRelativeOGMapData 3 getFloatRelativeOGMap MREC TimedFloatRelativeOGMapData _NEDO 3 LocalMapViewerComp
245. http www roboken esys tsukuba ac jp URG Classic URG Top URG SCIP2 0 URG 12 URG URG 200 02 100 13 URG
246. vr amp S X R 4 2 NEDO 4 4 4 4 1 inp FH id g D gt pa m I t d z 4 8 R 43 RTC 4 1 X 4 1 RTC 4 1 RTC SDLEngine 1 2 PortAudioInput 1 3
247. 3 26 IF3 09 2008 CE Wa Chattarjee Ranajit X RTC 4 26 2008 1F3 10 32 Ranajit pg 2008 pa FN 33 By RR 9 4 ug RTC 7 S RWRCI 9 34 ec 35 2008 2009
248. 4 2009 RV 28SQ pU PT Vol 53 No 15 P 8 13 2 12 1 RRT 4 6 2010 1 Vol 56 v a x lt 14 22 1 1 1 No 1 P 13 E E uires 2010 1 Vol 54 15 22 1 1 YI RUE No 1 P 6 41 16 22 2 1 PRESIDENT 2010 2 1 P 111 Industrial Robot 17 22 2 1 Robots at the International Robot An International Volume 37 Issue 3 Exhibition 2009 in Tokyo Journal
249. SDLEngine 3 18 3 4 K 3 18 SDLEngine RTC SDLEngine 1 Julius result TimedString I text in 2 OpenJTalk I text TimedString text out 3 O status TimedString I status T O P C NEDO 8 4 build xml lt target name gen rtc sdl engine description Generate SDL Engine RTC code gt lt gt arg valuez inport text in RTC TimedString gt arg value inport status in RTC TimedString gt lt gt arg Value outport text_out RTC TimedString gt target gt 3 SDLEngine SDLEngine BeanShell
250. deg 270 deg 0 25 360 1440 1080 rpm 2400 mm 60000 NEDO L 1 5z 13 2008 E RP 180 2 2 Top URG NEDO 3 PeopleBot PeopleBot MobileRobots PeopleBot 2 7 Xx 2 7 PeopleBot PeopleBot 1 6mm 21kg 8kg 0cm 33cm 0 8m
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252. 1 rangedata SensorRTC LaserRa corba_cdr ngeSensor idl Time dMeasuredData 2 robot_state IIS TimedPose2D corba_cdr 3 robot_velocity IIS TimedVelocity2D corba_cdr 4 peopledata TimedPeopleTrackin corba_cdr gData 2 EnvironmentSimulatorComp 3 126 No 1 AbsoluteMapServ AbsoluteMapServi MREC AbsoluteMapServ ce ce ice 2 RelativeMapServi RelativeMapServic MRFC RelativeMapServ ce e ice 3 ArealnfoService ArealnfoService TUT ArealnfoService 3 127 MREC AbsoluteMapService I F No 1 getAbsoluteOGMapConfig RTC OGMapConfig ET NEDO
253. 103 3 2010 9 24 28 2010 9 24 28 CD ROM RAJA SJ2010AC3P1 8 AGE 2 38 f 2010 9 24 28 Floor Sen 3P1 sing System 7 fM 2010 9 25 The 2010 International cyclical learning by H Masuta N Kubota Symposium on Intellig using spiking neural ent Systems iFAN 2010 network for a robot pe rception and action 2010 10 5th International Confe Application of Robot Se Yuki Nomura Takahi on Advanced Me rvice by using RT Com ro Kikuchi Atsush
254. 20104 11 9 The 3rd Compound Mutual Naoki Akihiro International Subspace Method Kazuhiro Fukui Workshop on for 3D object Subspace Methods recognition A theoretical extension of Mutual Subspace Method 2010 11 J 8 12 The Tenth Asian 3D Object Yosuke H Conference on Recognition Igarashi Computer Vision Based on Kazuhiro Fukui Canonical Angles between Shape Subspaces 2010 12 11 TT 23 25 RT Pe 2010 12 11 RRT 23 25 RT 2011 5 26 28 H 2011 ROBOMEC2011 2011 5 26 28
255. 3 120 No 1 color_reverse int 0 ED 0 0 2 robot radius int 0 3 person radius int 5 4 LocalMapViewerComp a Xx 33191 No 1 6 b rtc conf rtc conf 4 1 3 LocalMapViewerComp l NEDO 3 15 EnvironmentSimulatorComp 3 15 1
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257. 0 ocalization_ port 1 13 USE PEOPLE int 0 TRACKING 0 1 14 USE_VIDEO int 0 local map 0 1 15 USE MAP int 1 map service port 0 1 105 NEDO No 16 USE PEOPLE int 0 people tracking service port SERVICE 0 1 4 PathPlannerV2Comp a x 3 140 No
258. 1 SDLEngine 2 PortAudioInput Julius OpenJTalk PortAudioOutput VehicleServiceProvider qe m m m uu 3 4 4 10 d 410 1 2 4 5 Jc 90 6 SDLEngine 4 4
259. 1 rtc conf 2 PathPlannerV2Configuration conf 3 MotionSet mtn b rtc conf rtc conf PathPlannerV2Comp Zi DORRA 4 1 8 b 3 141 rtc conf No 1 Category PathPlannerV2 config file PathPlannerV2 PathPlannerV2Comp Configuration conf c PathPlannerV2Configuration conf d MotionSet mtn 106 NEDO 3 1
260. 2009 ROBOMEC2009 2009 ROBOMEC2009 15 55112009 RT Er Z 2 dad 3 2009 8 31H 9 1 Vol 109 No 182 PRMU2009 61 pp 12 UE JK V 2009 9 Vol 27 No 7 768 773 ta 1 Z Z Z 7 BRER MN 2009 9 H H 15 17 27 A VN RSJ2009
261. 2010 12 25 11 R fp m T 2011465 27 RTCI Xx ESL 2011 5 28 RT Anthony Isaac iT SE mm 2011 5 28 W Bi 3E
262. 5 v LumbarService LumbarService LumbarService C LumbarService Provider Provider LumbarUnit Consumer i 6 7 x rightarmService P rightarmService rightarmService C RightArmService ArmUnit Consumer Wiz 7 un i P ManipulatorCommon rightarmService_Common C RightCommonService a i Interface CommonProvider ManipulatorCommon Consumer Interface Common 8 P ManipulatorCommon rightarmService_Middle C RightMiddleService Interface MiddleProvider ManipulatorCommon Consumer Interface Middle 9 leftarmService P leftarmService leftarmService C LeftArmService w F ArmUnit Consumer 10 200 ManipulatorCommon leftarmService Common C LeftCommonService 2 ub Interface CommonProvider ManipulatorCommon Consumer Interface Common 11 P ManipulatorCommon leftarmService Middle C LeftMiddleService Interface MiddleProvider ManipulatorCommon Consumer Interface Middle 12 MarkerRecognition O object position TimedDoubleSeq I object pos P recognition service recognition service C RecognitionService gen g g RecognitionService Consumer T O P C NEDO
263. 51 robotlex xml X xml versionz 1 0 encoding UTF 8 gt Xlexicon versionz 1 0 xmIns http www w3 org 2005 01 pronunciation lexicon xmIns xsi http www w3 org 2001 XMLSchema instance xsi schemaLocationz http www w3 org 2005 01 pronunciation lexicon http www w3 org TR 2007 CR pronunciation lexicon 20071212 pls xsd alphabet kana xml langz jp Xlexeme grapheme gt grapheme gt lt phoneme gt KANA lt phoneme gt X exeme l exeme gt lt grapheme gt grapheme gt lt phoneme gt KANA lt phoneme gt X exeme lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt 2 lt phoneme gt X exeme Xlexeme lt grapheme gt grapheme gt lt phoneme gt IKANA lt phoneme gt X exeme lt lexeme gt lt grapheme gt lt grapheme gt phoneme gt KANA T L lt gt NEDO X exeme lt lexeme gt lt grapheme gt lt grapheme gt Xphoneme KANAI lt phoneme gt X exeme lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt Z
264. F 3 6 8 6 omniNames bat del Q C temp OMNI_RO00T bin x86_win32 omniNames exe start 5005 1 2 RTC a OpenHRI OpenHRIHI PortAudiolnput PortAudioOutput Julius OpenJTalk 3 SDLEngine SDLEngine build xml run console lt eX NEDO Eclipse jp ac kyutech SRP Console Ant bat SDLEngine doc SDLEngine bat SDLEngine T qi a BeanShell 2 0b5 by Pat Niemeyer pat amp pat net bsh 5i R 3 3 SDLEngine SDLEngine
265. gt gt DelayCount DelayCount gt 16kHz 16 gt V gt
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267. MREC TimedRelativeOGMapData 3 getFloatRelativeOGMap MREC TimedFloatRelativeOGMapData NEDO b LocalMapComp 3 LocalMapComp X 9113 No 2 Q5 1 LocalMapWidth int 200 cell 2 LocalMapHeight int 200 Y cell 3 LocalMapScale double 0 05 1 m cell 4 SensorPositionX m double 0 0 m 5 SensorPositionY_m double 0 0
268. e 6 41 9 1 OHM 2009 9 55 EN _ 7 31 10 1 2009 10 P 7 system integration 8 21 10 1 design news 2009 10 P 3 Japan CE4 CE5 0 3mm 3 UNUS 2 AE S E 7 9 21 10 26 NJ 10 26 P 34 NN m E 10 21 10 H 31 2008 10 P 7 i MZ AE 2 pe uz s 11 21 11 1 No 191 P 35 40 2009 RV 28Q 2 _ Ze Vol 47 No 13 P 8 12 21 12 1 7
269. 21 range_max distance double 30 0 m 29 range far code long 1 23 range_std_deviation double 0 0 24 range peason radius double 0 2 m 25 range sensor x double 0 0 XX m 26 range sensor y double 0 0 Y m 27 range sensor heading double 0 0 degree 28 show_map_scale double 0 05 m pixel 29 display_range_data int 0 0 r NEDO
270. 3 17 2 read MotionSet exe 1 3 144 read_MotionSet exe 6 WindowsXP Pro SP3 Visual studio 2008 1 0 BEA LUNA vA 2 MotionSet_setting read_MotionSet exe sase input read file name 3 31 0 00 100 00 3 32 109 3 18 MobileRobotsControllerComp 3 18 1 MobileRobots lt lt DatalnPort gt
271. P MEKAR p lx dcn GUI 3 10 Lm Se ER SI gan cce 44 10 3 XS LIRE SI 10 EIRA E gus A pma E AE m An BIS Eh 46 3 85 FJ Z lt HA 2 0X 125 SWERCIRSRSRHSO NICE n 47 ERAR 2010 GUI 2010 International a Hiroki Dobashi 48 Symposium on J Yasuyoshi Yokokohji Flexible Automation Grasped By a Universal Hand A
272. c REL 26 m lt 36 37 38 EE EHA Z SE m Z BE fg Chatterjee Ranajit 2008 gt A RTC RWRC Td jm RTC 5 RTK GPS t 1 F3 10 6 14
273. 2011 Proc 1st Asian Co nf on Pattern Rec ognition A Fast Stereo Based Multi Person Tracking using an Approximated L ikehood Map for Overlapping Silho OJ Satake and J Miura uette Templates 2011 12 8 Proc 2011 IEEE Heuristically Arrival Time Field Bi OIgi Ardiyanto an nt Conf on Roboti ased HeAT Random Tree An Onl d J Miura cs and Biomimetics ine Path Planning Algorithm for Mobile Robot Considering Kinodyn amic Constraints 2011 12 23 SI2011 OS RTC 2012 5 Proc 2012 IEEE I 3D Time space Path Planning Algo Olgi Ardiyanto an nt Conf on Roboti rithm in Dynamic Environment Ut d J Miura cs and Automation ilizing Arrival Time Field and Heu ristically Randomized Tree 2012 5 2012
274. O X Bs FH ZZ Jae S UTE E 2 lt BKH 10 RTC CANopen RTC CANopen Robomec10 2A2 B23 F T Robomec10 2A2 C09 2010 USB RTC PnP Robomec 10 2A1 G04 2010 RTC 17 2 6 gt k 1 10 1P1 E07 CD ROM 2010
275. PeopleTrackingTestComp 2 PeopleTrackingTestComp 3 PeopleTrackingTestComp 4 PeopleTrackingTestComp a d 3 77 i No 1 ricconi b rtc conf rtc conf PeopleTrackingTestComp 4 1 8 39 LocalizationComp 3 9 1 LocalizationComp 0 1 m celll
276. 12 RTCVer3 0 3 0 13 1 0 14 1 2 1 3 3 1 3 1 3 No 1 Web OpenHRP3 Web http www openrtp jp openhrp3 2 Web http www generalrobotix com product taizo index htm 14 1 4 4 Xx LA No 1 RTM RT 2 RTC RT 3 4 OpenHRI 5 OpenHRP3
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279. GlobalPathPlanner Dumy_velocity_dataComp No 1 ERROR Service provider is not activated n 145 NEDO 2 WARN Gemerated no waypoints Coordinate is out of area 3 INFO Compute Global Path from lt lt gt gt 2 lt lt gt gt to lt lt gt gt lt lt gt gt 4 INFO Number of Generated waypoints lt lt gt gt 6 1 18 Dummy2PosesSenderComp No 1 ERROR Component create failed 146 NEDO 62 1
280. No 1 b rtc conf rtc conf GlobalMapViewerComp 4 1 3 3 13 LocalMapComp 3 13 1 LocalMapComp 3 20 E 1 8 20 LocalMapComp lt lt DatalnPort gt gt lt lt ServiceProvider gt gt rangedata RelativeMapService lt lt DatalnPort gt gt pose RB 3 21 LocalMapComp 3 108 LocalMapComp NEDO
281. OS WindowsXP Pro SP3 RUE js 7 Open rtm aist 1 0 0 C Visual studio 2008 10Hz A 4 1 0 0 3 13 2 10 LocalMapComp 3 109 LocalMapComp No 1 onInitialize 2 onActivated 3 onExecute 4 onDeactivated 5 onAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged a 11 onStartup 12 onShutdown NEDO
282. SimpleGlobalMapLoaderComp 6 1 9 SLAMComp No 1 INFO Output Estimated Robot Pose lt lt gt gt lt lt gt gt lt lt gt gt 2 INFO Finish to calculate Likelihoods 3 INFO Finish one cycle processing 1 4 INFO Start to make GlobalMap 5 INFO Finish to make GlobalMap 6 INFO Input Robote Pose 7 INFO Input LRF Data LRF 8 INFO Step lt lt gt gt 9 INFO Start to predict and to update GlobalMap 10 INFO Finish to predict and to update GlobalMap 11 INFO The end of SLAM 12 INFO Total Execution Time lt lt gt gt s 13 INFO Required Time per cycle 1 Average lt lt
283. 11 7 11 28 7 21 12 MobileRobots 28 7 H 16 18 24 1 11 1 3 3 1 2 1 2 No 1 Web http www aisl cs tut ac p http www aisl cs tut ac jp R TC index html 14 1 4 4 1 8 No 1 RT 2 RTC RT 3 CORBA 4 2 2 E
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285. 23 7 30 3 URG RT 1 8 4 RTC 157 5 SCIP2 0 URG 6 23 7 19 7 23 10 27 NEDO No 8 SLAM 28 10 27 9 LocalMap 23 7 H 19 10 RTC 23
286. 5 2009 2009 11 23 28 6 TRONSHOW2010 2009 12 7 2010 2 2 5 8 2011 NEDO 2011 11 9 2011 2011 10 19 22 TECH Biz EXPO2011 RT Plaza 1 1 SSI 2008 20
287. 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown NEDO 3 3 3 1 Bumblebee2ModuleComp b Bumblebee2ModuleComp X 3 46 No 7 1 image_data TUT TimedImageData corba_cdr 2 stereo_data TUT TimeStereoData corba cdr 2 Bumblebee2ModuleComp 3 Bumblebee2ModuleComp 4 Bumblebee2ModuleComp a 38 47 No 1 rtc conf
288. cells Z octed tm MRFC TimedFloatAbsoluteOGMapData MREC TimedFloatAbsoluteOGMapData float float 0 0 1 0 1 4 2 3 zx 3 23 MREC TimedFloatAbsoluteOGMapData NEDO tm RTC Time mapconfig RTC OGMapConfig cells float MRFC OGMapFloatCells 3 24 MRFC TimedFloatAbsoluteOGMapData gt Z FEAM 2 x t MR
289. 10 2009 8 SI2008 RTC 8 SI2008 11 2010 3 SI2009 RT Middleware 12 2010 3 ROBOMEC2009 E ALT g RTC 14
290. 172 Top URG RTC RTC RTC RTC RTC RTC RTC MobileRobots RTC RTC 1 3 1 3 1 Ze 1 3 2 1 1 1 1 HH No 1 1 0 2 Bumblebee2Module
291. 2 onActivated 175 JJ E 8 onExecute T 95 4 onDeactivated 5 onAborting 6 onReset 7 onError xs 8 onFinalize Ea 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown 118 NEDO 3 20 3 1 GlobalPathPlanner K 3 157 No 1 start IIS TimedPose2D corba_cdr 2 goal IIS TimedPose2DSeq corba_cdr b GlobalPathPlanner 3 158 No 1 path IIS TimedPoseVel2DSeq corba 2 message RTC TimedString c
292. Ab 2009 09 fj H 9 ni 40 3 8 41 WRAZ yZ H 10 EZ CE v 7 OpenRT Platform RT E rl AE e Z gt A E EC WEAR vm 2009 SI2009 2009 12 OpenRT Platform OpenRTM NET RTC L 10 H 512009 i 9 9224 2009 12 42 zh 43 f BD n
293. PC IP omniNames exe 147 NEDO OMNIORB_USEHOSTNAME IP 192 168 0 11 set cosnames omninames set orb omniORB set port 1 set OMNIORB USEHOSTNAME 192 168 0 11 set PATH PATH OMNI_ROOTWbin x86_win32 2 PointGrey Bumblebee2 RTC a RTC tbb dll DFR tntel TBB O DLL PATH TntelTBB IX 32bit 64bit DLL UNC Xtbb dll Windows
294. cell origin cell 0 0 pose xScale m cell m o gt origin cell O 0 pose 1 4 NEDO 15 1 5 1 RTC BSD Top URG RTC Top URG RTC Top URG RTC 1 Top URG
295. pp20 26 3 15 16H 2009 7 SICE SI2009 RT 1 WG 24H 26H 2009 8 SICE 512009 H rH AE 2 10 SI2009 pp 1453 1456 12 E RTC CANopen 10 SI2009 pp 1457 1460 12 24 26 2009 9 2009 4E 11
296. 21 9 18 27 RT RT 21 12 24 10 RTC mt 21 12 25 10 22 6 15 vol 28 RT no 5 RT 71 22 6 15 vol 28 RT RE PM no 5 RT 22 6 15 vol 28 RT
297. 9 SDLEngine lib rtc java Eclipse Ant Eclipse Eclipse B Ant SDLEngine build xml compile 1 5 JAVA HOME JDK JAVA _ HOME bin SDLEngine build xml clean 3 5 3 1 RTC rtc conf
298. PeopleTrackingTestComp 10 3 75 PeopleTrackingTestComp No 1 onInitialize 2 onActivated 3 onExecute 4 onDeactivated 5 onAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown NEDO 3 8 3 1 PeopleTrackingTestComp d 3 76 No AU 1 Peopleln MREC TimedPeop corba_cdr leTrackingData b
299. create Data number error 15 INFO Error Destination data could not create Destination type error lt lt gt gt 16 INFO Error Destination data could create Data number error 17 INFO Error Action data could not create Action type error lt lt gt gt 18 INFO Error Action data could not create Data number error ve 19 INFO Walls lt lt gt gt Entrances lt lt gt gt CUE BAR AofrsSoy z Destination Exits lt lt gt Destination Points lt lt gt gt Destination Seats lt lt gt gt Destination Queues lt lt gt gt Actions lt
300. 1 3 dataGroupingNumber Top URG 200 L 02 100 Rr 4g lt l o Sl distance datalnterval 1 4 2 1 degree NORMAL ERROR UPDATED
301. Dummy2PosesSenderComp 1H 123 NEDO a 3 167 1 rtc conf q gt m b rtc conf rtc conf Dummy2PosesSenderComp 4 1 8 124 NEDO 4 Windows 4 1 411 j 4 1 Open rtm aist 1
302. RSJ2009AC3D2 01 20 27 2009 21 28 2010 22 SX Evaluation of utterance interval The 9th International 2010 d detection by using audio visual Conference on information Auditory Visual Speech Proceedings AVSP 2010 81 84 23 HERACLEOU ES 5 Investigating the Role of the The 9th International 2010 S Panikos Lombard Reflex in Visual and Conference on Audio visual Automatic Speech Auditory Visual Speech Recognition Proceedings AVSP 2010 69 72 24 WE WERE Guide and Recommendation The 2010 IEEE RSJ 2010 services using RT modules for International Conference Human Robot Interaction on Intelligent Robots and Systems IROS 2010 Workshops Tutorials CD ROM Towards a Robotics Soft
303. URGDataFlowComp 3 URGDataFlowComp 39 08 No gom baud_rate long 19200 bps device_name string COMI scan interval long 0 URG measure_mode string NORMAL CNORMAL SHORT Im start position float 0 0 deg Im end position float 18
304. sdlEngine local ports vehicleService setPower false A iii J c LumbarmoveCooperative double position double velocity double accel boolean wait sdIEngine local ports LumbarService moveCooperative position velocity accel if wait true while true SleepTime 300 lumbarMoving false lumbarMoving boolean sdlIEngine local_ports LumbarService isMovingO if lumbarMoving break LE SubCarpas2HgMat x MM D SubCarpas2HgMat Carpas NEDO Pai 3 1415926535897932384626433832795 180 double mat new double 12 thx Carpas 3 thy 4 thz 5 srx Math sin thx rad crx Math cos thx rad sry Math sin thy rad cry Math cos thy rad srz Math sin thz rad crz Math cos thz rad mat 0 cry crz mat 1 srx sry CrZ orx srz mat 2 crx sry orz srx srz mat 4 cry srz mat 5 srx sry srz crx crz mat 6 2 srx crz mat 8 sry mat 9 srx cry mat 10 mat 3 Carpas 0 mat 7 Carpas 1 mat 11 Carpas 2 return mat RE RE CEE EES EE
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312. SDLEngine 1 5 3 RTC VehicleUnitRTC 1 5 4 RTC ArmUnitRTC 1 5 5 RTC RTC 1 5 6 MarkerRecogRTC
313. m 6 SensorPositionTheta_deg double 0 0 degree 7 SensorMaxDistance_ double 30000 0 mm mm 8 SensorMinDistance_mm double 20 0 mm 9 Error_code long 19 classicURG 19 TopURG 1 10 Error mode long 0 URG classicURG 1 TopURG 2 4 LocalMapComp a X 9114 No 1 m b rtc conf rtc conf 4 1 3 LocalMapComp 3 14 LocalMapViewerComp 3 14 1 LocalMapViewerComp
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318. TERHI 3 Eo 5 k AB pe 2009 5 RT BR 24 26 2009 ROBOMEC200 9 2009 12 The 2009 IEEE Development of Hiroshi Takemur 19 23 International Vision Based Nemoto Zentaro Conference on Person Following Hiroshi Mizoguchi Robotics and Module for Mobile Biomimetics Robots In Out Door ROBIO2009 Environment 2009 12 The 2009 IEEE Visually Realistic Seigen Hane 19 23 H International Environment for Hiroshi Takemura Conference on Safety Hiroshi Robotics and Development of Mizoguchi Biomimetics Vision based Robot ROBIO2009 Making Vision Program Applicable to Real Environment without Modification 2009 12 24 26 H 2010 3 H H 10 10 SICE cum der aero SI2009 F 49
319. VxWorks RT Eclipse Public License NET RT Android RT RT 1 AME AME LEE Classic URG RT Top URG SICK LMS100 RT SICK LMS200 RT MESA 3 SRA000 RT Hemisphere GPS CrescentA100 RT Canon VB C50i RT Canon VC C50i RT Crossbow CXLO2LF3 RT TOKYO KEIKI VSAS2 RT NITTA XFS 18M20A10 RT 6 T RT
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341. if handles leftarmServiceO rtc null env handles leftarmServiceO rtc deactivateO env disconnect env handles leftarmServiceO ports leftarmServiceO leftarmService NEDO env handles SDLEngineO rtc ports SDLEngineO LeftArmServiceConsumer env disconnect env handles leftarmServiceO rtc ports leftarmService0 ManipulatorCommonInterface nProvider env handles SDLEngineO rtc ports SDLEngineO LeftCommonServiceConsumer env disconnect env handles leftarmServiceO ports leftarmService0 ManipulatorCommonInterface Middl eProvider env handles SDLEngineO ports SDLEngineO LeftMiddleServiceConsumer if handles LumbarServiceProviderO rtc null env handles LumbarServiceProviderO rtc deactivateO env disconnect env handles LumbarServiceProviderO rtc ports LumbarServiceProvider env handles SDLEngineO rtc ports SDLEngineO LumbarServiceConsumer if handles MarkerRecognition0 rtc null env handles MarkerRecognitionO rtc deactivateO env disconnect env handles MarkerRecognitionO rtc ports MarkerRecognitionO recognition service env handles SDLEngineO rtc ports SDLEngineO RecognitionServ
342. 2010 ROBOMEC2011 RT 2011 7 28 RT RT 2011 2011 RTM Coreonoid OpenHRI 2011 11 22 RT RT 2011 12 18 2011 RT 2012 2 2 RT 1 http www pict lab uec ac jp n event detail php pf 20120202 vm J 2008 6 18 OpenHRP3 R d da pH http www openrtp jp openhrp3 ICRA2009 Workshop on Open Source Software in Robotics 2009 6 18 OpenHRP3
343. RT 1 WG B SI2009 1453 1456 12H24 2 ys H TLinux RT 09 09 2A2 B14 1 3 Vol 46 No 1 pp 16 23 2010 RT 2009 Um RTC CANopen 09 2A2 C03 1 2 2009 5 H RT 09 2A2 D04 1 3 2009 5 Et CANopen RTC 27 RSJ2009AC3D1 01 2009 9 15 17
344. mp 5 SLAMComp s ERTS GlobalMapViewerComp 6 LocalMapComp S LocalMapV C ocalMapViewerComp 7 EnvironmentSimulatorComp 8 PathPlannerV2Comp make MotionSet exe read MotionSet exe 9 MobileRobots MobileRobots MobileRobotsControllerCom p Dumy velocity dataComp 10 GlobalPathPlanner Dummy2PosesSenderComp NEDO 2 2
345. EnvironmentSimulatorComp Hzc E 2 i RTC 83 23
346. HI dE B pp 71 76 2009 ROR ADE DE 3DCAD Ey RT Component for analyzing a motion script to implement a service using the humanoid robot HRP 4 2009 7 9 RT 2009 10 3 II RT 2009 10 8
347. Joint Agent Wol JE rkshops amp Symposium HTN JAWS USB 20114 FE12 6 20114 FE12 8 4th International Confe rence on ICIRA 2011 Part II LNAI 7102 pp 210 219 Proc IEEE Int Conf Robotics and Biomimeti Control Architecture fo r Human Friendly Rob ots Based on Interactin g with Human Prediction of Human s Movement for Collision H Masuta E Hiwad a and N Kubota Shunsuke Hamasaki Yusuke Tamura Atsu pp 1633 1638 Avoidance of Mobile R shi Yamashita and H obot aj me Asama 2011 12 9 Proc of IEEE Int Conf Grasp Planning Harada T Tsuji K on Robotics and Parallel Grippers with Nagata N Yamanobe Biomimetics Flexibility on its K Maruyama Grasping Surface A Nakamura Y Kawai 2011 12 IEEE SICE Internation Cooperative Object Tra Meng Hung Wu Atsu al Symposium on Syste nsportation by Multiple shi Konno and Masar m Integration Humanoid Robots u Uchiyama 2012 12 14 OMG Santa Domestic Y Matsusaka Meeting Standardization Activity for Standardizing Voice Interface for Service Robots in Japan 2011 12 21 The Fourth Symposium in System Integration 51
348. Mae Tatsuo Advanced Arai Mechatronics ICAM20 10 2011 01 Journal of Component based Yasushi Mae Intelligent Service robot system design Hideyasu Robotics for grasping tasks Takahashi Kenichi Ohara Tomohito Takubo Tatsuo Arai 2011 04 Mechatronics Interoperable Yasushi Mae Jaeil vision component for Choi Hideyasu object detection and Takahashi Kenichi 3D pose estimation Tomohito for modularized Takubo Tatsuo robot control Arai 2011 05 DET KRR nde um 2011 09 29 2011 11 The 8th Component based KenichiOhara Kyohe International Robot Software ilwane TomohitoTak Conference on Design for ubo YasushiMae Tat Ubiquitous Robots Pick and Place Task suoArai and Ambient Described by SysML Intelligence 2011 12 12 KRE
349. No 1 onInitialize 2 onActivated USB 3 onExecute 4 onDeactivated USB 5 onAborting 6 onReset 7 onError 8 onFinalize RTC 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown NEDO 3 6 3 1 URGDataFlowCompComp b URG
350. kitTalk false sdIEngine local ports vehicleService stop VclMoveLinearRel 0 0 500 0 0 0 if match sentence 2 kitTalk false sdlEngine local ports vehicleService stop VclMoveLinearRel 0 0 500 0 0 0 if match sentence amp 1 kitTalk CfS1E LEF false sdlEngine local ports vehicleService stopO if match sentence kitTalk false sdlEngine local ports vehicleService stop VclMoveLinearRel 0 0 0 0 90 0 if match sentence kitTalk false sdlEngine local ports vehicleService stopO gripO public int getValue this joinO return this value kitTalk String TalkingWords if handles PortAudioOutputO null kitTalk TalkingWords true kitTalk String Ta
351. nm ar 2 4 Bumblebee2 2 Bumblebee2 IIDC 1394 based Digital Camera Specification v1 31 Sony amp ICX204 progressive scan CCD 1032 176 4 65um X 4 65um 120mm 97 2 5mm 66 3 8mm 43 6mm F 2 0 2 5mm 3 8mm F2 5 6 0mm 12bit Auto Manual Colormode 20FPS IEEE 1394A 6pin GPIO Connector 12pin 4pin 8 80V IEE 1394A GPIO Connector 2 5W 12V Auto Manual x Des Auto Manual 15FPS 0 01m s 66 63ms DCAM v1 31 0 1 3 14 S N 60dB ies RITE 157 X 36 X 47 4mm 342g 2XM12 0 45 C 30 60 C NEDO 2 Top URG Top URG E
352. 1 1 4 onDeactivated 5 onAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate zx 10 onRateChanged 11 onStartup 12 onShutdown NEDO 3 15 3 1 a EnvironmentSimulatorComp 3 124 No 1 robotControlInfo IIS TimedVelocity2D corba_cdr b EnvironmentSimulatorComp 3325 No HU
353. 11 2010 2010 12 In S I Ao Castillo Emergency Hisashi Hayashi Seiji and X Huang Eds Planning Tetsuo Series Lecture Notes in Electrical Engineering Vol 52 Intelligent Automation and Computer Engineering Hasegawa and Fumio Ozaki Chapter 3 pp 27 40 Springer 45 2011 3 14 2011 HE
354. 3 25 assunde rg un P X 3 25 100 PathPlannerV2Comp lt lt DataInPort gt gt lt lt DataOutPort gt gt robot_pose robot control lt lt DataInPort gt gt lt lt DataOutPort gt gt robot velocity planning img DataInPort subgoal waypoint lt lt ServiceConsumer PeopleTrackingService DataInPort loca
355. RSJ2008 1F3 04 2008 9 15 26 RSJ2008 1F3 05 2008 9 16 KR Middleware 26 RSJ2008 1F3 06 2008 9 17 DFIT 9 SI2008 1L3 1 2008 12 18 SEX BZ 9 SI2008 213 1 2008 12 Bo nli ni
356. intel http software intel com en us articles intel threading building blocks faq http threadingbuildingblocks org wiki index php title Licensing 2012 2 1 URL 7 CGAL CGAL LGPL GNU Lesser General Public License QPL Q Public License CGAL http www cgal org license html 2012 2 1 URL Tid NEDO 2 2 1
357. 3 ASA 2 09 CD ROM 1A1 F06 2009 5 26 KE ART 09 CD ROM 2A2 C01 2009 5 26 Z 09 CD ROM 2A1 RT D08 2009 5 26
358. 37 WARN startMeasurement Command MD or MS no response 38 WARN powerOff Command QT no response 39 WARN onFilelize called receiver exit RTC 40 WARN receiver Status error 41 WARN getResponse Response buffer overflow 10KB 139 NEDO No 42 INFO Measure
359. 4 5 OracleBinaryCodeLicenseAgreementforJavaSR AcceptLicenseAgreement java3d 1_4 0 Ol windows ib86 exe Java3D API 1 5 NEDO Java 3D API 1 4 0 01 You must accept the Oracle Binary Code License Agreement for Java SE to download this software C Accept License Agreement Decline License Agreement Product File Description File Size Download Java 3D API 1 40 01 173MB java3d 1 4 0 01 linux amd64 bin Java 3D 1 4 0 01 1 73 java3d 1 4 0 01 linux i586 bin Java 3D API 1 4 0 01 1 88 java3d 1 4 0 01 solaris sparc bin Java 3D API 1 40 01 1 80 java3d 1 4 0 01 solaris x85 bin Java 3D API 1 4 0 01 2 77 MB java3d 1 1 ws i586 ex Back to too 4 5 Java3BD URL BU vg http
360. H 35 2011 ROBOMEC2011 2011 7 D Vol J94 D No 7 pp 1125 1134 2011 8 Jm flare EAT EB ZEE X D J94 D No 8 pp 1240 1247 2011 9 5 Local Binary Pattern PRMU2011 69 PRITI O 2011 9 7 9 29 IRT TT H 2011 11 The Fifth Feature Nosaka Ryusuke 20 23 Pacific Rim Extraction Based Yasuhiro Symposium on on Co occurrence Ohkawa Image and
361. NEDO 4 4 4 m aal 4 1 42 4 3 OpenHRP3 _ sea O FRATS E G 7672 E c
362. http www openrtp jp openhrp3 2010 1 28 rtcshell rtsshell OpenRTM aist 1 0 0 2010 RT IROS2010 Workshop on Toward a Robotics Software Platform Eclipse Public License 1 1 2 35 RT RT OpenHRP3 CORBA RtORB RT 3 C OpenRTM aist C Eclipse Public License OpenINVENT E 1 Eclipse Public License Eclipse Public License
363. gt gt ms cycle Maximum lt lt gt gt msl Minimum lt lt gt gt msj 6 1 10 GlobalMapViewerComp No JC 3E 1 ERROR AbsoluteMap service port is not AbsoluteMapService connected vu 2 ERROR Service provider of AbsoluteMap is AbsoluteMapServiece not activated 142 NEDO 3 ERROR Component create failed 6 1 11 LocalMapComp 6 1 12 LocalMapViewerComDp No 1 ERROR Service port is not conected with RelativeMapService service provider ORR o 2 ERROR Service provider is not activated RelativeMapService 3 ERROR Component create failed
364. 11 2010 SI2010 2010 12 59 EP PH x Geoffrey BIGGS RT 11 2010 SI2010 2010 12 60 OpenRT Platform DDC4RTC RT 11 2010 SI2010 2010 12 61 OpenRT Platform Android RT
365. 26 2008 AR RT RSJ2008AC2L2 03 15 lt Components for Human Robot ICRA2009 CD ROM 2009 Interaction Look Listen and Talk proceedings 16 S Lao Face Recognition Its ICRA2009 CD ROM 2009 Application to Human Robot proceedings Interaction 17 2009 2009 18 2009 2009 19 GR ELE 27 2009
366. 4 1 4 2 4 1 move lex xml X xml versionz 1 0 encoding UTF 8 Xlexicon versionz 1 0 xmIns http www w3 org 2005 01 pronunciation lexicon xmIns xsi http www w3 org 2001 XMLSchema instance xsi schemaLocationz http www w3 org 2005 01 pronunciation lexicon http www w3 org TR 2007 CR pronunciation lexicon 20071212 pls xsd alphabet kana xml langz jp lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt KANA lt phoneme gt lt 1 gt lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt KANA 5 5 1 lt phoneme gt X exeme Xlexeme grapheme gt grapheme gt lt phoneme gt 2 lt phoneme gt X exeme lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt U t Y X phoneme X exeme lt lexeme gt lt grapheme gt lt grapheme gt Xphoneme KANA C L L lt phoneme gt X exeme l exeme gt grapheme gt grapheme gt phoneme gt KANAI lt phoneme gt X exeme X lexicon 4 2 move grxml
367. ET 0 DA a uS ti G Do 8 nu Mg ri HIP A 59 EAE AIDT D gt NEDO 5 4 8 1 OpenHRP3 GrxUD GrxUI UR GrxUI Eclipse SDK F ED N BRA GP R
368. Eclipse RTC Apache Ant 1 8 2 http ant apache org SDLEngine ANT HOME PATH ANT_HOME bin OpenHRP3 3 1 1 http www openrtp jp openhrp3 5 pulseaudio 0 9 21 PortAudioInput PortAudioOutput OpenHRIAudio libJulius 4 1 2 Julius OpenHRIVoice 4 open JTalk 1 0 0 OpenJTalk OpenHRIVoice 4 PyYAML 3 0 5 OpenHRP3 http pyyaml org java3D API 1 4 0 01 OpenHRP3 http www oracle com technetwork java javas ebusiness downloads ava archive downloads java client 419417 html NEDO 44 3
369. SI 2012 03 10 12 SI EARRA 2012 03 11 12 SI 2012 03 6 IDEC 394 ace RT OSS EPL 307 Flea2 RTC OSS EPL 308 Flea2 RTC OSS EPL 393 4302 RTC OSS EPL 317 OSS EPL 400
370. b RS 232C USB2 0 PC PC Top URG URB2 0 2 1 USB2 0 RTC PC USB2 0 URG R 2 1 Top URG 9 5 No 1 OS Microsoft Windows XP SP3 2 CPU Intel Pentium4 2 40GHz 3 512MB 4 1GB 5 1 USB2 0 Top URG 2 6 2 2 2 2 Top URG 180 Top URG 1 3 No 5 SCIP2 0 URG K 2 6 Top URG JN pier Top URG
371. m s Irad s error d IS TimedPoseVel2DSed IIS TimedPoseVel2DSeq 27 0 K 3 9 IIS TimedPoseVel2DSeq H tm MNRAS I RTC Time NEDO e id ID sequence
372. 1 2009 4 15 H b IDEC 27 3 2 2009 8 21 IDEC 3 2009 10 H 24 IDEC 4 2010 1 20 E IDEC 192 2009 Tt 5 2010 6 15 i283 5 SUPE IDEC IDEC s robot based Assembly Automation cellular production 6 2010 7 1 Volume30 Number4 201 system a challenge to IDEC 0 automate high mix low volume production 7 2010 7 20 195 IDEC E 2 8 oO1NWONSBN512
373. 6 2008 2P1 H12 2008 6 12 22 48 J1 04 2008 7 7 17th CISM IF ToMM Experiments on S Komizunai T Tsuj Symposium on Robot Hammering a Nail by ita F Nishii Y Nom Design Dynamics Humanoid Robot HRP 2 ura T Owa Control RoManSy2008 pp 325 331 2008 7 8 the 17th World Congre Generating Robot Arm Sihang Wang Eri Sat ss The International F motion by Using Gener o Toru Yamaguchi ederation of Automatic alized Environmental I Control IFAC 08 pp 8 nformation 215 8220 2008 7 30 8 MIRU2008 pp 10 i
374. 9 16 27 BP RREZ 2010 9 24 2 8 OB W PE X 2010 10 22 IROS2010 RT Modules for Visually Contro Workshop lled Mobile Robot Wd AK MEP OR X 2011 9 9 2 9 1 2011 9 9 2 9 VE 2 Huh BE EEG 2011 9 9 2 9 3 BE TREE 2 3 4
375. Bm e g D V E gt Q B 3 2 X 8 1 No RTC 1 SDLEngine 1 2 PortAudioInput 1 9 Julius 1 4 OpenJTalk 1 5 PortAudioOutput 1 NEDO 3 4 2 3 2 d 3 2 No 1 OS Windows WindowsXP Windows7 2 Java Developer 1 6 0 23 http
376. International Journal o Human Like Approac Yasar Ayaz Atsushi f Advanced Robotic Sys h Towards Humanoid Konno Khalid Muna tems Vol 8 No 4 Robot Footstep Plannin war Teppei Tsujita S 98 109 g hunsuke Komizunai a nd Masaru Uchiyama 2011 9 7 29 P CD ROM 3 MA 4 2011 9 7 29 3I1 02 4p ages 2011 9 9 29 3B2 7 2011 9
377. NEDO discon f env handles SDLEngineO rtc deactivateO if handles JuliusRTCO rtc null env handles Jul iusRTCO rtc deactivate env disconnect env handles SDLEngineO rtc ports SDLEngineO text in env handles Jul iusRTCO rtc ports Jul iusRTCO result if handles PortAudiolnputO rtc znull env handles PortAudiolnputO deactivateO env disconnect env handles PortAudiolnputO rtc ports PortAudiolnputO AudioDataOut env handles Jul iusRTCO ports Jul iusRTCO data if handles OpenJTalkRTCO rtc null env handles OpenJTalkRTCO rtc deactivate env disconnect env handles SDLEngineO rtc ports SDLEngineO text out env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO text env disconnect env handles SDLEngineO rtc ports SDLEngineO status env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO status if handles PortAudioOutputO null env handles PortAudioOutputO rtc deactivateO env disconnect env handles PortAudioOutputO ports PortAudioOutput0 AudioDataln env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO result if handles VehicleServiceProviderO rtc z
378. No PERI 1 RobotSafetyRadius double 1 0 m 2 RobotVelocity double 0 5 m s 4 GlobalPathPlanner a X 3 162 No m 1 b rtc conf rtc conf QlobalPathPlanner l 4 1 8 120 3 24 Dummy2PosesSenderComp 3 21 1 Dummy2PosesSenderComp Dummy2PosesSenderComp lt lt DataOutPort gt gt start pose lt lt DataOutPort gt gt goal_pose 3 38 Dumm
379. SD 4 3 ET 18 21 E 7 H 16 14 3 19 1 7 16 RA 6 3 E 20 21 7 16 EOT S 10 2 ZR PEE 21 41 7 16 8 2 mo 22 41 7 16 6 3 POP Rhdd Lob IX E uid 23 21 7 16 TERORY ME 4 3 91 ues x E 24 31 7 20 Re 5 3 ores 4E JE 25 21 7 20 5 26 21 7 30
380. activate if handles PortAudioOutputO null env connect env handles PortAudioOutputO rtc ports PortAudioOutputO AudioDataln env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO result env handles PortAudioOutputO rtc activate env handles OpenJTalkRTCO rtc activate VehicleServiceProvider SDLEngine activate if handles VehicleServiceProviderO rtc znull env connect env handles VehicleServiceProviderO ports VehicleServiceProviderO VehicleServicePro vider env handles SDLEngineO rtc ports SDLEngineO VehicleServiceConsumer env handles VehicleServiceProviderO activate 0penHRP3 if handles UnitEmuAdapter0 rtc null env connect env handles Uni tEmuAdapterO rtc ports transfseqo env handles Uni tEmuControl lerO rtc ports Uni tEmuControl lerO transfsegi env connect env handles Uni tEmuAdapterO rtc ports valueseqo env handles Uni tEmuControl lerO rtc ports Uni tEmuControl lerO valueseqi env handles Uni tEmuAdapterO activate rightarmService SDLEngine activate if handlesI rightarmService0 rtc null env connect env handles rightarmServiceO ports rightarmServiceO rightarmService env han
381. no 5 RT 71 22 9 23 28 RT 22 9 23 28 RT 22 10 16 2010 IEEE RSJ Open Source Software for Navigation on International Conference a Mobile Platform Intelligent Robots and Systems 22 12 24 11 RT 22 12 25 11 Et 2 RT 1 22 12 25 A 11
382. ti Wiq i Dos H nu Mg ri i m 4 49 EAt 5 D 706 54 9 Dl NEDO 5 5 8 1 OpenHRP3 GrxUD GrxUI OR GrxUI Eclipse SDK F ED N BRA GP R H BTE Finis
383. 2 4 H 2 9 RTC 2 10 4 1 2 es K 29 URL Open rtm aist 1 0 0 C RT http www openrtm org omniORB 4 1 4 CORBA http omniorb sourceforge net OpenCV 2 1 2 2 http sourceforge net projects opencyli brary FlyCapture 1 8 http www ptgrey com Triclops 3 2 http www ptgrey com ARIA 2 7 1 MobileRobots ActivMedia http robots mobilerobots com wiki Ma in Page Intel TBB 4 0 CPU CPU n http threadingbuildingblocks org CGAL 3 7 http wwwr cgal org 2 10
384. 3 7 37 SDLEngine bsh source c SDLEngine script TalkService bsh JM 3 8 1 SDLEngine SDLEngine 8 8 ES zmra2 3 8 SDLEngine KT bsh exit 2 a OpenHRI C PortAudioInput Ze PortAudioOutput NEDO Julius OpenJTalk C 24
385. 3P3 2 2010 RTC CANopen 3P3 3 2010 9 86 87 88 89 90 91 92 93 94 95 96 97 98 SI2010 ZA 11 H x HHH B1 1 Fi RT 2010 12 ZS e r1 11 n 2010 12 abdulrahman MOHDAZIZL Xf Hi E SI2010 pp1386 1387 212 3 2010 12 i BH rrj LADEE
386. ANDO AIST line tools for OpenRTM aist E ax tt 1 RUE 4 I 2010 06 MAS 1H ju Tetsuo H f 9010 dbi JEJII 2010 06 OpenRTM aist 1 0 2010 06 47 OpenRT Platform RT 3 W B 2010 Tib DRIIZ 22 bur Ad Z 9010 48 m3 VxWorks 2010 1H 49 JI 1 OpenRTM t
387. E 2008 42 E 17 RTC CANopen 2 41 004 1 4 43 i 2009 3 EX RT CANopen 9 E hl Para EE H 155 x g x EI 27 Hm 2009 MEX F H ri 26 H
388. GlobalMapViewerComp b GlobalMapViewerComp X 3 104 No A GE 1 AbsoluteMapServi AbsoluteMapServi MRFC AbsoluteMapServ ce ce ice 3 105 MRFC AbsoluteMapService F No 1 getAbsoluteOGMapConfig RTC OGMapConfig 2 getAbsoluteOGMap MREC TimedAbsoluteOGMapData double X double Y unsigned long unsigned long NEDO No 3 getFloatAbsoluteOGMap
389. Iz m m urs 20 4 Eb Tsk2855108 32H V E SEA MESI n Ep 23 10 12 3 6 3 6 2 To 23510 12 4 3 23 10 12 sia
390. K 8 URL Xx 5 3 OpenCV URL http sourceforge net projects opencvlibrary files opencv win 2 2 BU sq TZ eap http sourceforge net projects opencvlibrary files opencv win 2 2 Open CV 2 2 0 win32 vs2010 exe download 2 OpenHRP3 RTC K 4 7 URL OpenHRP SDK C 5 4 OpenHRP3 URL ECL Y Sei c http www sec co jp robot download rtc html Quy gere 2 OpenHRP3_grip zip 3 SDLEngine SDLEngine v5 3 4 8 URL SDLEngine C 5 5 SDLEngine URL
391. X xml versionz 1 0 encoding UTF 8 gt Xgrammar xmlns http www w3 org 2001 06 grammar xmIns xsi http www w3 org 2001 XMLSchema instance xsi schemaLocationz http www w3 org 2001 06 grammar http www w3 org TR speech grammar grammar xsd xml lang jp version z 1 0 mode z voice root command Xlexicon uriz move lex xml lt rule id command gt NEDO one of gt item gt item gt item gt item gt item gt item gt item gt item gt item gt item gt jtem gt item gt one of gt lt rule gt X grammar 462 1 SDLEngine build xml SDLEngine 4 9 4 3 Xx 4 9 SDLEngine 4 SDLEngine li
392. activate SDLEngine activate env handles SDLEngine0 rtc activate J rr SleepTime long waitTime try Thread sleep catch InterruptedException e Jy msn irc sdlEngine local ports vehicleService clearAlarmO sdlEngine local ports vehicleService stopO sdlEngine local ports vehicleService setPower true SleepTime 1000 sdlEngine local ports vehicleService setServo true NEDO status sdIEngine local_ports SDLEngine0 status addListener new jp ac kyutech SRP Scriptin
393. mapconfig cells octed pose 1 4 2 2 tm g MRFC TimedFloatRelattveOGMapData MREC TimedFloatRelativeOGMapData float float 0 0 1 0 1 4 2 4 3 15 MREC TimedEloatRelativeOGMapData float NEDO
394. 20 2011 IEEE SICE Multi Robot Exploration Framew QYoussef Ktiri International lork Using Robot Vision and Las Symposium on er Range Data System Integra tion 2011 12 23 12 gt 2011 12 25 12 ei 5b hj mm S S J A 2011 12 25 12
395. 2009 Bt puce 2010 2 16 in 2010 12 H 23 11 a 0 1 0 2011 1 8 2010 LES a 2012 1 7 2010 c b 2009 KRZA 49 9 604 607 2010 2009 2 10 2009 2 11 gt d 3 4 3 1 11 3 4 3 1 11 3 3 F M 1 5 n
396. 21 2009 192249 AT 2 0 2008 5 2 27 AI 2008 5 21 Proc of 2008 IEEE Int Fast Grasp Planning fo K Harada K Kaneko Conference on Robots r Hand Arm Systems B F Kanehiro and Automation ICR ased on Convex Model 2008 pp 1162 1168 2008 5 22 IEEE International Singularity Avoidance M Hayakawa K Ha Conference on Robotics by Inputting Angular ra D Sato A Konno and Automation pp Velocity to a Redundant and M Uchiyama 2013 2018 Axis During Cooperative Control of a Teleoperated Dual Arm Robot 2008 6
397. 4 25 pu o SensorRTC LaserRangeSensor idl TimedStatus SensorRTC LaserRangeSensor idl TimedStatus 3 39 SensorRTC LaserRangeSensor iid1 TimedStatus tm data RAD TT RTC Time SensorRTC LaserRangeSensor zidl Status NEDO K 8 40 SensorRTC LaserRangeSensor idl Statuns startPosition float endPosition float datalnterval float minDistance long maxDistance long distanceNum long scanInterval long dataGroupingNumber long periodicRate long sensorType string motorSpeed string baudRate string measureMode F string sensorState t string versionInfo 3 023 7 a viis string rangeUnit EMARE D ER A string distanceUnit ERRED B E
398. 5 lt phoneme gt X exeme lt lexeme gt Xgrapheme amp X grapheme phoneme gt amp T lt phoneme gt X exeme lt lexeme gt lt grapheme gt lt grapheme gt phoneme gt KANA amp gt T amp T lt phoneme gt lt 1 gt lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt amp I A G lt gt X exeme lt lexeme gt lt grapheme gt lt grapheme gt lt phoneme gt KANA lt lt phoneme gt X exeme X lexicon 5 2 robot grxml X xml versionz 1 0 encoding UTF 8 gt Xgrammar xmlns http www w3 org 2001 06 grammar xmIns xsi http www w3 org 2001 XMLSchema instance xsi schemaLocationz http www w3 org 2001 06 grammar http www w3 org TR speech grammar grammar xsd xml lang version z 1 0 mode voice root command Xlexicon uriz robot lex xml gt lt rule id command gt one of gt jitem gt item gt item gt item gt item gt item gt lt item gt lt item gt Xi tem IE C i tem jtem gt item gt item gt lt item gt one of gt one of gt lt item repeat 0 17 gt
399. 72 73 74 75 76 TT 78 79 80 81 82 83 84 85 16 CANopen 2 RTC RTC CANopen 2A1 G06 Robomec 10 H PHa nH Robomec 10 2A1 G05 2010 6 i 13 H 2010 6 13 Er Jl t gt H 13 H 16 UT ERE ds i 1 Robomec 10 2A1 G16 2010 6 E kir HE CANopen 16 2010 6 13 16 R T Z 13 B 16 B
400. Data 4 StereoData TUT TimedStereo corba cdr Data b SLAMComp 3 95 No m 1 EstimatedPose IIS TimedPose2D corba 2 PosePair MREC TimedEsti corba_cdr matedPose2D 2 SLAMComp 396 No 1 AbsoluteMapServi AbsoluteMapServi MREC AbsoluteMapServ ce ce ice 3 97 MRFC AbsoluteMapService I si No DEA 1 getAbsoluteOGMapConfig RTC OGMapConfig
401. confie name Value Jer i _ imit sped meter per sec 0 8 m imt um 00 HEN iem E 3 34 RTSystemEditor com no 4 MobileRobotsControllerComp a 3 150 No E 1 ste conf b rtc conf rtc conf MobileRobotsControllerComp 4 1 3 118 NEDO 3 19 Dumy_velocity_dataComp 3 19 1 Dumy velocity dataComp MobileRobotsControllerComp m s Irad s Enter
402. float NEDO 2 IIS TimedPose2D IIS TimedPose2D 3 5 IIS TimedPose2D tm 1d data error ID RTC Time sequencexlong RTC Pose2D sequence double 3 5 IIS TimedPose2D R ADN tm data
403. for int i 0 i lt sentencearray length i int chkwordpos sentencearray i indexOf chkword if chkwordpos 1 chkword text chkwordpos sentencearray i index0f chkword voicedata sentencearray i substring chkwordpos chkword length O 1 sentencearray i leng th 1 break print voicedata return voicedata public class SubvoiceChk2 extends Thread main return private int value public void runQ if match sentence f kitTalk false if match sentence kitTalk false if match sentence f kitTalk 7 false if match sentence kitTalk false if match sentence kitTalk false public int getValue this joinO return this value disconO f env handles SDLEngineO rtc deactivateO if handles JuliusRTCO rtc null env handles Jul iusRTCO deactivateO NEDO env discon
404. leftarmServiceO activate LumbarServiceProvider SDLEngine activate if handles LumbarServiceProvider0 rtc null env connect env handles LumbarServiceProviderO rtc ports LumbarServiceProvider env handles SDLEngineO rtc ports SDLEngineO LumbarServiceConsumer env handles LumbarServiceProviderO activate MarkerRecognition SDLEngine if handles MarkerRecognitionO rtc null env connect env handles MarkerRecognition0 rtc ports MarkerRecognition0 recognition_servic e env handles SDLEngineO rtc ports SDLEngineO RecognitionServiceConsumer env connect env handles MarkerRecognitionO rtc ports MarkerRecognition0 object position env handles SDLEngineO rtc ports SDLEngineO object pos SDLEngine activate env handles SDLEngineO rtc activateO SleepTime long waitTime try Thread sleep waitTime catch InterruptedException e e printStackTrace sdlEngine local ports vehicleService clearAlarmO sdIEngine local ports vehic
405. nsor Flesh 2008 8 22 MFI2008 IDevelopment of Whole Body Mult WE Soft Flesh with Vibro tactile and Deep Pressure Sens e for Humanoid Close Interacti on 2009 3 16 14 S dus T 2009 5 26 O iu 55 2009 5 26 ES 2009 7 1 First Internat Solid Model Construction i
406. 2011 5 28 Enhancing Localization Using Ran Youssef Ktiri dom Ferns Based Vision and Multi Y 4 Robot Collaboration 2011 5 28 RTMEXTender OpenRTM 56 2011 5 28 RTC MO kasr d X fi AE 2011 5 28 Depth based Scope Switching and Anthony Isaac
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408. 7 setParam boolean float degl float deg long long LRSServiceException LRS 8 getStartPosition float degl E LRSServiceException LRS 9 getEndPosition float deg LRSServiceException LRS 10 getScanInterval 1006 NEDO No LRSServiceException LRS 11 getDataGroupingN DE long LRSServiceException LRS C TimedMeasuredData var TimedStatus var b
409. CORBA StringHolder O while sdlEngine local ports vehicleService getState statusHolder msgHolder SleepTime 200 if statusHolder value Ox11 break VclMoveLinearAbs double x double y double alpha int moveresult 0 Position position new position x x NEDO position y y position theta alpha moveresult VclMoveLinearAbs position return moveresult VclMoveLinearAbs Position position int moveresult 0 VclMoveEndWait Velocity vel new Velocity vel translation 170 0 vel rotation 30 0 sdlEngine local ports vehicleService setVelocity vel vel translation 170 0 vel rotation 30 0 sdlEngine local ports vehicleService setAcceleration vel sdIEngine local_ports vehicleService moveLinearAbs position VclMoveEndWait return moveresult sdlEngine local ports vehicleService setServo false
410. E RT RE 2009 12 26 ED PEKSA 7 2009 CO 10 H H Jp RE 2009 12 26 Ke 44 B HE n Ld ck M h 45 Geoffrey 46 RRE PEKA OpenRTM aist 1 BIGGS AIST KOTOKU AIST rtcshell Command A E Uu Z AB Noriaki TEE EK 10 0 RT 2010
411. Jul iusRTCO rtc activateO 0penJTalk SDLEngine activate if handles PortAudioOutputO null env connect env handles SDLEngineO rtc ports SDLEngineO text out env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO text env connect env handles SDLEngineO rtc ports SDLEngineO status env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO status PortAudiolnput activate if handles PortAudioOutputO rtc null env connect env handles PortAudioOutputO rtc ports PortAudioOutputO AudioDataln env handles OpenJTalkRTCO ports OpenJTalkRTCO result env handles PortAudioOutputO rtc activate env handles OpenJTalkRTCO rtc activate SDLEngine activate env handles SDLEngineO rtc activateO status sdIEngine local_ports SDLEngine0 status addListener new jp ac kyutech SRP Scripting InPortListe dataReceived event print status event getValue data if event getValue data equals start
412. Kengo Toda Takayuki Furuta and Makoto Mizukawa The Joint Interface of RT Componets for Mobile Robots The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project Journal of Robotics and Mechatronics Vol 22 No 6 PP 767 776 2010 GPS Vol 29 No 8 pp 42 49 2011 Vol 30 No 3 2012 Tae Hyon Kim Kiyohiro Goto Hiroki Igarashi Kazuyuki Kon Noritaka Sato and Fumitoshi Matsuno Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment ARTIFICIAL LIFE AND ROBOTICS Vol 16 No 4 514 518 2012 Hiroki Igarashi Toshihisa Saito Takaya Kinjyo and Fumitoshi Matsuno Development of autonomous inver
413. MobileRobotsControllerComp 18 GlobalPathPlannerComp 19 Dummy2PosesSenderComp GlobalPathPlanner NEDO 32 4 lt OpenRTM X 3 2 No 7 1 IIS TimedPose2D 2 IIS TimedPose2DSeq 3 IIS TimedVelocity2D 4 IIS TimedPoseVel2DSeq 5 MREC TimedEstimatedPose2D
414. Position Tracking Syst Kouji Murakami Tsuto Intelligent Robots an em for Commodities in mu Hasegawa Yasunobu d Systems IROS pp 3 a Daily Life Environme Nohara Byong Won Ah 712 3718 nt n and Ryo Kurazume 2010 10 22 IROS 2010 Workshop on Open Source Software f Yosuke Matsusaka Towards a Robotics Sof tware Platform or Human Robot Interac tion 20104E10 27 RT 2010 10 28 60 SIG SLUD B002 06 pp 27 30 2010 11 Journal of Advanced Co An Integrated Perceptu Hiroyuki Masuta and N mputational Intelligen al System of Different aoyuki Kubota ce and Intelligent Inf Perceptual Elements f ormatics vol 14 No or an Intelligent Robo 7 pp 77
415. RTC OSS EPL 327 RTC OSS EPL 310 RTC OSS EPL 315 RTC OSS EPL 304 OSS EPL 35 OSS EPL 318 PA10 OSS 37 PA10 OSS EPL 305 OSS EPL 36 OSS EPL 328 RTC OSS EPL 314 OSS EPL 306 RTC OSS EPL 316 RTC OSS EPL
416. RY AK T SE Ra 2011 1 6 SHINOBI Web 2011 E 1 10 HIEI TRRC2010 199 2011 3 20 ALUMINIUM B du ud fe E E EDE Mk B 30 H 81 ym gt FOCUS NEDO 42 A don m 2011 8 TV TOKYO MX 2012 1 8 NHK TV NHK 2012 1 15 iQ ON J TV 2012 4E 1 16 KOHGA3 HIEI NHK TV NHK 2012 1 18 TV BS 2012 1 22
417. double alpha int moveresult 0 Position position new Position position X x position y y position theta alpha moveresult VclMoveLinearRel position return moveresult VclMoveLinearRel Position position int moveresult 0 Velocity vel new Velocity vel translation 120 0 vel rotation 23 0 sdlEngine local ports vehicleService setVelocity vel vel translation 100 0 vel rotation 18 0 sdlEngine local ports vehicleService setAcceleration vel sdIEngine local_ports vehicleService moveLinearRel position return moveresult J END O sdlEngine local ports vehicleService setServo false sdlEngine local ports vehicleService setPower false s RTC
418. fux E NEC ANEC 2008 WA 2008 RSJ2008AC1F1 02 2008 OpenRT Neo Ee Sian fn E 26 2008 RSJ2008AC1F1 07 CD ROM H 1 26 2008 RSJ2008AC1F1 08 CD ROM 10 Kwak Nosan
419. java sun com javase ja 6 download html Kit JDK 32bit Eclipse Python 2 6 4 http www python p OpenRTM aist 1 1 0 RC2 http www openrtm org openrtm ja 3 Python 1 0 0 RELEASE C 1 0 0 RELEASE Java 4 OpenRTM Eclipse 1 0 0 RELEASE RTCBuilder tools RTSystemEditor Eclipse RTC Apache Ant 1 8 2 http ant apache org SDLEngine ANT_HOME PATHI ANT_HOME bin 5 pulseaudio 0 9 21 PortAudioInput PortAudioOutput OpenHRIAudio libJulius 4 1 2 Julius OpenHRIVoice 4 open JTalk 1 0 0 OpenJTalk OpenHRIVoicee 3 4 3 16kHz 16
420. 119 TUT ArealnfoService IA 119 E Tad SNAM 120 wd ur dir tasata m k bt E mH E 120 NEDO X 3 163 DummyZ2PosesSenderComp 121 X 3 164 Dummy2PosesSenderComp 7 Z Z EX 122 TI US P EP LS A PCR 123 K 8166 gel CUM HII ENTM M anl uo 123 A 124 zc uu WSKA hEN yu nav dece MER aces t t deis 125 Z 4 2 OpenRTM aist tette rte 126 K bu E UE UP S nn DM IM MM 126 ze 4 4 OpenCV2 T OpenCV2 2 X miei F URBL etat erattu eee 127 Teda ElyCaptuye 127 ze 4 6 Triclops 32 OF F DUE ee seid 127 acum ARAZ T DOZ AES URL uay nataqa DIM A M 128 AD Antel TEB OR aaa dieere 128 K 449 CGAL OF IT BER 129 ZS OB S S n una uqu uuu 4 Bu S UD UE d t ttu ttg 5 BE 7701270277 6 Bod CB NEA E Mea cna De tbe dv RR RR h SE 7 E 2 1 Top URG E VOJEN R rea uat a o oa o Ce Ol Cle C D C RNC 13 2 2 Top URG 14 Bj 3 1 TimedPoseVel2Dseq 24 B 9 2 XZ L22272 DU ODDO RUN 42 Ej 3 3 Bumbl
421. 12 25 10 RT pp 1487 1488 2010 1 15 Vol SIRMCMC 27 Num 1 pp 65 76 2010 1 Vol 25 No 1 pp 58 67 2010
422. 14 20 10 H 16 15 20 12 10 16 21 7 16 5 m 3 drum EE 17 21 7 16 1 11 2
423. 2008 9 18 Joint 4th International Service Offer System i Yusuke Fukusato Sho Conference on Soft Co n Kukanchi Interactiv ichiro Sakurai Eri Sa mputing and Intelligen e Human Space Design to Shimokawara Toru t Systems and 9th Inte and Intelligence usin Yamaguchi rnational Symposium o g Natural Gesture n advanced Intelligent Systems SCIS amp ISIS20 08 pp 299 304 20084F9 H 23 H NLP 8 FEA 2008 9 25 Proc of IEEE RSJ Int Target Tracking Using Kurazume H Yam Conf Intelligent Robo SIR and MCMC Particl ada K Murakami Y ts and Systems e Filters by Multiple C Iwashita and T Has ameras and Laser Ran egawa ge Finders 20084E10 28 Proc of IEEE Int Con A Structured Environm K Murakami T Has f on Sensors ent with Sensor Netwo egawa R Kurazume rks for Intelligent Robo ts and Y Kimuro 2008 11 20 The 22nd Pacific Asia Conference on Languag e Information and Co mputation pp 350 357 An Effective Speech U nderstanding Method with a Multiple Speech Recognizer based on Output Selection using Edit Distance Kazutaka Shimada S atomi Horiguchi and Tsutomu Endo 2008 11 21 Proc Int Conf Ubiqui tous Robots and Amb
424. 3 129 TUT AreaTnfoService I F No 1 getArealnfo NEDO No TUT TimedAreaInfo b EnvironmentSimulatorComp 3 EnvironmentSimulatorComp 3 130 No 1 FieldDataFile string Field txt 2 walkingrate_mean double 1 33
425. 3 24 2009 102738 2009 4 21 2009 143871 2009 6 17 2009 143872 2009 6 17 2009 146168 2009 6 19 NEDO 1 0 NEDO 1 0 2012 02 29 1 3 NEDO
426. 8 156 8 157 8 158 X 8 159 3 160 X 3 161 3 162 MRFC AbsoluteMapService 7 95 MRFC RelativeMapService 96 TUT ArealntoService y 96 ba I dcc ur MM T 97 Er ul D E 99 PathPlannerV2Comp 101 PathPlannerV2Comp Z Z EZ Z tru real pei ats 102 cas d quu 103 AR s A 0 103 She ue e esed deb 104 MRFC PeopleTrackingService TA i 104 MRFC RelativeMapService FR i 104 104 106 E Cu E CU E 106 MotionSet setting 107 make MotionSet exe 108 read MotionSetexe wu IE 109 MobileRobotsControllerComp R ZE Z7Z4k 110 MobileRobotsControllerComp 111 112 112 i 112 113 velocity dataComp 114 Dumy velocity dataComp 7 Z vw EF B d dde e eerie 115 VU MSc D e D ep 116 e Su akii 116 2 027020722060 117 GlobalPathPlannerComp 118 E Mmm 119 dira EN a y 119 Lr sk
427. 9 29 CDROM Z FABAS 2011 9 9 29 CDROM E 3B3 3 338 F 2011 9 13 27 2 2011 pp 5 31 536 2011 9 14 SICE Annual Conferen Environmental percepti H Masuta E Hiwad ce 2011 pp 1270 1275 2011 on for grasping an unk nown object based on 3D range distance info rmation a and N Kubota 20114F10 11 IEEE International Co nference on System M and Cybernetics p Robot Perception of Un expected Objects based on Human Visual Str H Masuta E Hiwad a and N Kubota p 244 249 ucture using a 3D Ran ge Camera 2011 10 28
428. AIST 2 omniORB omniORB GPLv2 GNU General Public License v2 LGPLv2 GNU Lesser General Public License v2 omniORB http omniorb sourceforge net 2012 2 1 URL 3 OpenCV OpenCV BSD OpenCV http opencv willowgarage com wiki 2012 2 1 URL NEDO 4 FlyCapture Triclops FlyCapture Triclops PointGrey FlyCapture URL http www ptgrey com support kb data eula rtf 2012 2 1 URL
429. Gr T Tsuji K Harada K nt Conference on Hum asp for Humanoid Rob Kaneko F Kanehiro anoid Robots Humanoi lots with Multi Fingere Y Kawai d 2008 pp 54 60 d Hand 2008 12 5 9 RA 2008 12 9 Proc of 19th Internati 3D Object Localization K Maruyama Y Kawai onal Conference on Pat Based on Occluding Co T Yoshimi FTomita tern Recognition ICPR ntour Using STL CAD 2008 TuBCT8 41 Model 2009 1 1 VOL 64 Dynagent TM NO 1 pp 36 39 2009 1 12
430. HS histogram Method 2011 12 The 2011IEEE Constant Yusuke Kitano 7 11 H International execution time Ming Ding Conference on multiple human Hiroshi Robotics and detectors TakemuraHiros Biomimetics regardless of hi Mizoguchi ROBIO2011 target number increase based on CHLAC 2011 12 The 2011 IEEE Mobile Robot Ryoma Arai 1 11 H International System Realizing Ming Ding Conference on Autonomous Hiroshi Robotics and Locomotion TakemuraHiros Biomimetics Combination of hi Mizoguchi ROBIO2011 Person Following and Autonomous Returning 2012 3 H 25 Spatiograms T H C H Vol 78 2012 m No 787 pp 799 811 2 sd 3 1512009 512009 2 2 2009 12 512010 512010 1B2 5 2010 12
431. Hiroki Dobashi Derivation of Optimal Akio Noda 56 22 10 20 Conference Robust Grasping Strategy Yasuyoshi Yokokohji 6 under Initial Object Pose Hikaru Nagano Intelligent Robots and E T N rrors atsuya Nagatani Haruhisa Okuda ali ERER 57 22 11 6 A ai EE E 11 22 12 2 aA P pn ad ds 23H gT 11 AEREN RE eR er Has 59 22 12 23 11 Xa 60 2 12 28 cos F
432. MCI SL C DOE 147 NEDO 2 1 1 aw 1 2 zx 1 8 P 2 1 z 2 2 2 3 z 2 4 z 2 5 z 2 6 X 2 7 z 2 8 2 2 9 z 2 10 z 8 1 3 2 z 8 8 z 3 4 z 3 5 z 3 6 zog z 3 8 3 9 8 10 3 11 3 12 8 18 8 14 X 8 15 8 16 8 17 8 18 3 19 3 20 ze 8 21 V a D EE ONE LS NEEDLE ON T 1 pira wi qm RR 2 ERR mui NA 2 e M M D CEDERE 10 T Ui EU E RE 11 p rca S E Sasa 11 Bumblebee qo RET EE NE 12 EU ure REI 5418580 a 18 Top RUE ON RIE LU e e kia e s 13 e S Z fE daos tetti Sedes cut 2 2 2 15 Pioneer 3 DX ONERA Er 16 WE RE TTA Mm 1 17 SOR NA 18 pon 19 RR NOE M M M ML ML M a a a 2 HER kk lt 20 Ts Timed Poe 2DF ALF se ded HL RR RR 21 TIS TimedPose2DSeq situ tust ta Qoi usata 22 IS Timed Velocity2D 22 TIS TimedVelocity2D F DDR OD DOR CC 23 IS TimedPoseVel2DSeg FZ Z s SUN pd E dod 23 TIS TimedPose V
433. PP Gel X q RTSswet 4 a 4 P gt bp t Mj A Fras 772 5 3 y 7 Otyt Sewa lt ui Mee r FRH h nn amp 4t BrePs amp SmotPg 9pa serme C OperHFRP 31 buta usur ramet Fa cus bs 91 mu gt Wo Sa remercie wil mt Ayaka D un s T3 HET 5 NU lt Git EU 726 s o E c s 1 R 5 7 OpenHRP3 3 SDLEngine SDLEngine CXSRP HOME GRIP SDLEngine bat SDLEngine YA 3 7 3 4 OpenHRP3 GrxUD GrxUTl GrxUI Eclipse SDK FE CE ETR H a PM
434. RTC PathPlannerV2Comp USE PEOPLE TRACKING 1 USE_WAYPOINT_PORT 0 4 Top URG RTC a RTC RTC RT SytemEditor X b RTC
435. bumblebee1234567 cal 3 INFO Get Context from bumblebee1234567 cal 6 1 2 ShowlmageComp 6 1 3 StereolmageViewerComp 6 1 4 URGDataFlowCompComp No 1 ERROR LF echo back missing gd 2 ERROR LF Command Invalid status 96s a 3 ERROR LF missing ab 4 ERROR LF decode missing ab 5 ERROR RTC_LRSServicempl lt lt gt gt start position invalid value 137 NEDO
436. ce Robots Tatsuo Arai 2009 10 The 6th Internat Layered Structur Yasushi Mae Hi ional Conference on Module Base deyasu Takahash on Ubiquitous R d Robot Control i Jaeil Choi obots and Ambien System for Servi Kenichi Ohara t Intelligence ce Robots Tomohito Takubo URAI 2009 Tatsuo Arai 2009 10 The 6th Internat Implementation a Jaeil Choi Yas ional Conference nd Evaluation of ushi Mae Kenic on Ubiquitous R the Scale Invar hi Ohara Tomoh obots and Ambien iant Feature Tra ito Takubo Tat t Intelligence Insform GPU suo Arai URAI 2009 2009 10 The 6th Internat ional Conference on Ubiquitous R obots and Ambien Object Pose Esti mation by Multi Surfaces SIFT Ma tching for Manip Amr Almaddah Y asushi Mae Tat suo Arai Kenic hi Ohara Tomoh t Intelligence ulation ito Takubo URAI 2009 2010 09 28 IRT Web HEE 2010 10 Proceedings of The SysML Based Robot Kenichi Ohara 5th International System Design for Tomohito Takubo Conference on Manipulation Tasks
437. deal dt ol dat o ot d hot ott o tdt 132 Le MERE OE UE SHE D eR 133 4 3 1 pu uper 133 4 3 2 Tn 135 NEC i 136 edet 136 5 29 MOBILEROBOTS kk 136 5 3 ITA 136 187 6 1 ME 187 Bumhblebee2ModwleGom 0 LO 197 ShowlmageComp Oe e Das NS ON D 197 StereoImageViewerComp eee 187 URGDataFlowCompComp RNN 187 PeopleTrackingTestComp dide fade Qu 141 LocalizationComp kk 141 SimpleGlobalMapLoaderComp 142 SEAM COMP 142 E 6 1 5 PeopleTrackingV2Comp lik 141 6 1 10 GlebalMapViewerComp kk 142 6 1 18 LocalMapComp 143 LocalMapViewerComp 143 EnvironmentSimulatorComp 143 MobileRobotsControllerComp 145 Dumy velocity dataComp eene 145 GlobalPathPlanner a ud adem 145 Dummy2PosesSenderComp 146 6 1 14 PathPlannerV2Comp kk 144
438. discon f env handles SDLEngineO rtc deactivateO if handles JuliusRTCO rtc null env handles Jul iusRTCO rtc deactivate env disconnect env handles SDLEngineO rtc ports SDLEngineO text in env handles Jul iusRTCO rtc ports Jul iusRTCO result if handles PortAudiolnputO null env handles PortAudiolnputO deactivateO env disconnect env handles PortAudiolnputO rtc ports PortAudiolnputO AudioDataOut NEDO env handles Jul iusRTCO ports JuliusRTCO data if handles OpenJTalkRTCO rtc null env handles OpenJTalkRTCO rtc deactivate env disconnect env handles SDLEngineO ports SDLEngineO text out env handles OpenJTalkRTCO ports OpenJTalkRTCO text env disconnect env handles SDLEngineO rtc ports SDLEngineO status env handles OpenJTalkRTCO ports OpenJTalkRTCO status if handles PortAudioOutputO null env handles PortAudioOutputO rtc deactivateO env disconnect env handles PortAudioOutputO ports PortAudioOutputO AudioDataln env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO result if handles VehicleServ
439. gt lt grapheme gt Xphoneme amp amp 5 73 5 X phoneme X exeme X lexicon 3 3 talk grxml lt xml versionz 1 0 encoding UTF 8 gt Xgrammar xmlns http www w3 org 2001 06 grammar xmlns xs1 http www w3 org 2001 XMLSchema instance xsi schemaLocationz http www w3 org 2001 06 grammar http www w3 org TR speech grammar grammar xsd xml lang version 1 0 mode voice root command gt Xlexicon uri greet lex xml gt lt rule id command gt lt one of gt item gt lt item gt lt item gt lt item gt item gt lt item gt item gt lt item gt item gt lt item gt one of gt lt rule gt lt grammar gt NEDO 3 6 2 1 SDLEngine build xml SDLEngine RTC buld xml lt arg gt value rtec template
440. http openrtm org openrtm ja project J NEDO Intelligent PRJ ID 392 http openrtm org openrtm ja project NEDO Intelligent PRJ ID 395 http www openrtm org openrtm ja project NEDO In telligent PRJ_ID089 http www openrtm org openrtm ja project NEDO In telligent_PRJ_ID088 http www openrtm org openrtm ja project NEDO_In telhgent_PRJ_ID090 http www openrtm org openrtm Ja project NEDO In teligent PRJ HiroAccPrj 4001 http www openrtm org openrtm Ja project NEDO In telligent HiroAccPrj 4002 http openrtm org openrtm Ja project NEDO Intelligent ID402 http www openrtm org openrtm Ja project NEDO In telligent 10403
441. lt item gt lt item repeat 0 1 gt lt item gt lt item repeat 0 1 Z 38 CX item one of gt one of gt lt item repeat 0 1 gt lt item gt lt one of gt lt rule gt lt grammar gt NEDO 5 6 2 1 SDLEngine build xml SDLEngine 5 6 5 3 RTA 5 6 SDLEngine SDLEngine 1 Julius O result TimedString I text in 2 OpenJTalk I text TimedString O text_out 3 A mae O status TimedString I status 4 VehicleService P VehicleService vehicleService C VehicleService Provider Provider VehicleService Consumer
442. lt long gt data sequencecRTC PoseVel2D error sequence lt double gt 3 10 IIS TimedPoseVel2DSeq gt 3 4 tm d ID di S l D VN error Nix3 Y3 63 vy3 va3 OTONA EP BUE vx vy va nire uk 3 1 TimedPoseVel2Dseq e MRFC TimedEstimatedPose2D MREC TimedEstimatedPose2D
443. nterf ace Middle gt arg value consumer RecognitionServiceConsumer recognition service RecognitionService gt arg valuez consumer idI main idl dir VehicleService idl gt arg value consumer id main idl dir Arm idl gt arg valuez consumer idI main idl dir VehicleService idl gt arg valuez consumer idI main idl dir LumbarUnit idl arg valuez consumer idI main idl dir RecognitionService idl gt arg valuez idl include main idl dir gt target gt SDLEngine EE SDLEngine PortAudioInput Julius OpenJTalk PortAudioOutput VehicleServiceProvider rightarmService leftarmService MarkerRecognition
444. p 87 fixSP2g exe 2 INFO Calibration File successfully saved at bumblebee1234567 cal 3 INFO Get Context from bumblebee1234567 cal 6 1 6 HH H H 6 17 Was LocalizationComp PeopleTrackingTestComp No 1 ERROR Service port is not conected with service provider 2 INFO Waiting input initial pose 3 INFO Input Robot Pose 4 INFO mao size lt lt gt gt lt lt gt gt 5 INFO Step lt lt gt gt 6 INFO Start to predict and to update Global Map 7 INFO Finish to
445. u gt EX un RRA TAN RE SR 32 un 7 WRITE oe ST e eo EE Medie IrnEXD Sw ERES iii NEDO coo E E 67 58 S EE 69 Dp e EN 70 6 EZ RR 70 1 NEDO NE NE NE BEONE OME AE AE NE NE AE ONEONE ON NE NE M EW 2 NEO AEO e AT 11 1 2 1 8 1 4 2 1 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 3 12 3 13 3 14 3 15 3 16 3 17 3 18 3 19 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 Inn E nanan nun 2 E a A A A 6 nan yap AE RTO c T ER 8 P S E AER E u m 9 M A uct 9 RNS GN dot ns 10 BE
446. un Nakazato and Tor terface u Yamaguchi 2008 9 9 26 RSJ2008 Lp rg 2008 9 9 26 PRR CD ROM 1 F2 08 2008 9 9 26 WE CD ROM 1 E3 01 WHR 2008 9 9 26 CD ROM 1 E3 03
447. 0 0S7 3 1380 1387 2 DREIE 2010 8 19 SICE Annual Conferen Domestic Robot System Takahiro Iijima Eri ce 2010 pp 390 391 Considering Generaliz Sato Shimokawara an e d Toru Yamaguchi 2010 8 20 SICE Annual Conference Information Reduction Masuta N Kubota 2010 pp 392 397 for Environment Percep tion of an Intelligent Robot Arm Equipped wi th a 3D Range Camera 2010 8 24 Proc of 20th Internat 3D Contour Model Creat K Maruyama Y Kawai ional Conference on Pa ttern Recognition ICP ion for Stereo vision Systems F Tomita R2010
448. 0 find_flg false if handles MarkerRecognition0 rtc null while find_flg NEDO if object pos 3 gt O sdIEngine local_ports rightarmService_Middle openGripper LumbarmoveCooperative 10 0 10 0 10 0 false double reqDbl_ new double 7 reqDbI_ O 40 reqDbl_ 1 20 reqDbI_ 2 0 reqDbI_ 3 90 reqDbI_ 4 0 reqDbI_ 5 0 reqDbI_ 6 0 movePTPJointAbs regDbl right true reqDbl 0 40 reqgDbl 1 20 reqDbI 2 20 regDbl 3 90 reqDbl_ 4 20 reqDbI_ 5 0 reqDbI_ 6 0 movePTPJointAbs regDbl right true double carPos new double 6 carPos 0 538 546 carPos 1 22 071 carPos 2 120 558 3 167 080 4 30 958 5 30 511 ArmMoveLinearAbs carPos 25 848 right true LumbarmoveCooperative 43 0 10 0 10 0 false double carPos new double 6 carPos 0 carPos 1 carPos 2 carPos 3 carPos 4 carPos 5 ArmMoveLinearAbs carPos 395 546 25 508 140 0 20 958 10 511 2
449. 0 reqDbI_ 6 0 movePTPJoint bs reqDbl_ left true double carPos new double 6 carPos 0 308 546 carPos 1 152 071 carPos 2 50 558 3 200 080 4 35 958 5 40 511 ArmMoveLinearAbs carPos 55 848 left true LumbarmoveCooperati ve 35 0 10 0 10 0 false double carPos double 6 carPos 0 355 546 carPos 1 27 071 carPos 2 120 558 carPos 3 210 0 carPos 4 30 958 carPos 5 45 51 ArmMoveLinearAbs carPos 55 848 left true sdlEngine local ports leftarmService Middle moveGr ipper 87 SleepTime 4000 CartesianSpeed cartesianSpeed new RTC CartesianSpeedO cartesianSpeed translation 60 0 cartesianSpeed rotation 20 0 sdlEngine local ports rightarmService Middle setMaxSpeedCartesian cartesianSpeed LumbarmoveCooperative 0 0 15 0 15 0 false carPos 0 400 546 NEDO carPos 1 75 071 2 60 558 carPos 3 180 0 carPos 4 0 958 carPos 5 0 511 ArmMoveLinearAbs carPos 25 848 left true reqDbl 0 19 68 reqDbl 1 43 25 reqDbl 2 5 29 reqDbl 3 109 740 reqDbl 4 40 94 reqDbl 5 0 28 reqDbl 6 10 12 movePTPJointAbs regDb
450. 0 0 deg data grouping number long NEDO No 8 sensitive mode string OFF CON OFF Top URG ON 9 motor_slow_rate long 0 4 URGDataFlowComp a d 304 No 1 rtc conf
451. 0 0 C omniORB 4 1 4 OpenCV 2 1 OpenCV 2 2 FlyCapture 1 8 Triclops 3 2 ARIA 2 7 1 Intel TBB 4 0 CGAL 3 7 X 41 No o gt z3 1 c2 C3 ct ke gt I8 ls I4 Ie la Z e oo 1 Bumblebee2ModuleComp 1 SN LE O 2 ShowImageComp 3 StereolmageViewerComp O O 4 URGDataFlowComp O O 5 PeopleTrackingV2Comp O 6 PeopleTrackingTestComp 7 LocalizationComp 8 SimpleGlobalMapLoaderComp O O 9 SLAMComp 1 10 GlobalMapViewerComp 11 LocalMapComp O O 12 LocalMapViewerComp 125 NEDO 13 EnvironmentSimulatorComp 14 PathPlannerV2Comp 15 MotionSet setting 16 MobileRobotsControllerComp 17 Dumy velocity dataComp 18 GlobalPathPlanner O O O O O O O O Ol G O l O O 19 Dummy2PosesSenderComp 4 4 2 1 Open rtm aist 1 0 0 C Open rtm aist 1 0 0 C OpenRTM aiss
452. 0 775 t 2010 11 3 IEEE Int Conf on Sen Position Tracking Syst Kouji Murakami Tsuto sors pp 1879 1882 em for Commodities in mu Hasegawa Yasunobu an Indoor Environment Nohara Byong Won Ah n and Ryo Kurazume 2010 11 5 Proceedings of the 24n Combination of 3 types Kazutaka Shimada No d Pacific Asia Confere of speech recognizers iko Tanamachi and Tsu nce on Language Infor for anaphora resoluti tomu Endo mation and Computation on PACLIC24 281 2 90 2010 11 9 2010 International Home Appliance Service Masaya Iwasawa Symposium on System by using anlu Yamaguchi and Yas Micro NanoMehatronies object Position and unari Fujimoto and Human Science Multimodal MHS2010 pp 459 464 Interaction with Com munication robot 2010 11 9 IEEE International Sym Structured Intelligenc H Masuta and N Kubo posium on Micromechatr for Cyclic Learning ta onics and Human Scienc based on Spiking Neura e pp 453 458 1 Network for Human Fr iendly Robots 2010 11 11 Proc of 10th Asian Co Correspondence Free Mu S Kawabata Y Kawai
453. 08 2 SSH 2008 2008 3 Y Ma etc Re weighting Linear Discrimination CVPR 2008 2008 Analysis under Ranking Loss 4 2010 J93 D No 11 pp 2495 2504 2010 11 5 Jensen Shannon 2012 J95 D No 4 2012 04 6 Efficient Facial Attribute Proceedings of the 2010 Recognition with Spatial International Conference Codebook on Pattern Recognition ICPR2010 pp 1461 1464 2010 08 7 Human Re Identification Through Proceedings of the 2012 Distance Metric Learning Based International Conference On Jensen Shannon Kernel on Computer Vision Theory and Applications VISAPP2012 pp 603 612 2012 02 8
454. 1 I gt x 5 Tuta 83 5 1 RTC RTC 5 1 RTC 1 PortAudioInput 1 2 Julius 1 3 OpenJTalk 1 4 PortAudioOutput 1 5 SDLBngine 1 6 VehicleServiceProvider 1 7 LumbarServiceProvider 1 8 h rightarmService 1 9 Uu leftarmService 1 10 MarkerRecogniti
455. 1 Julius O result TimedString I text in 2 OpenJTalk I text TimedString O text_out 3 7 O status TimedString I status 4 VehicleService P VehicleService vehicleService C VehicleService esie eK Provider Provider VehicleService Consumer GT O P C 48 build xml fil lt target name gen rtc sdl engine description Generate SDL Engine RTC code gt gt arg valuez inport text in RTC TimedString gt arg valuez inport status in RTC TimedString gt lt gt arg valuez outport text out RTC TimedString gt gt arg value consumer VehicleServiceConsumer vehicleService VehicleService gt arg valuez consumer idI7 idl dir VehicleService idl gt arg valuez idl includez main idl dir gt target gt NEDO SDLEngine
456. 1 26 s H s RSJ2008 Hx mA 2008 12 5 7 9 SimuLike H SICE m A 2009 1 H 12 c lt 2009 3 16 17 14 Ta H ims 2009 5 24 26 RT H 2009 ROBOMEC2009 2009 5 H H 24 26 2009 5 H H 24 26 2009 6 H H 10 12
457. 1 7 16 idi NEWS news keizai 0002130378 S shtml abe hes http ww w asahi com dig UE 17 21 7 16 j gt ital nikkanko NKK20090 PUER TURCA 7160005 html amb vr 4 http www chemicaldaily gt E TheCh IDail 18 21 7 16 RA 2 m co jp news 2009077 16 04 ms POS etos 601 2131 html http www carview co jp 19 31 7 16 carview bbs 122 2ct2 1 amp ct3 1116 72 orm LH gt http www semiconducto h 20 pk21 E7 H 16 H x ERES ANNE rjapan net newsflash app dE mS 1i 090716 01 html http www robonable jp 21 1 7 17 news 2009 07 20090716 1 8bb html ER gS z http techon nikkeibp co 3 SE 1 On 22 23 10 11 Tech On jp article NEWS 2011101 1 19
458. 10 2 H 10 Rs di R 2010550536 AE x 2010 2 10 RHR BUNKERI K J 2010 amp 2 H 10 MM RAE BUER Ti k rH 7 13 147415 JN H 54 p 2010 4E 2 H 10 ME ERAR gt I d 7 PCT JP2010 051962 i ERIK RX 2010 2 10 WIPO K 7 2010 6 22 PX 3 1 20 9 25 m No 0812 http www mitsubishielectric co jp news 2008 0925 a htm 2 21 7 15
459. 10323 Ver1 http www openrtm org openrtm ja project NEDO In telligent 10192 Ver2 http www openrtm org openrtm Ja project NEDO In telligent 10191 Ver1 http www openrtm org openrtm Ja project NEDO In telligent 10190 ds Wk 7 zn T J PE http openrtm org openrtm Ja project N EDO Intellige nt HiroAccPrj 1001 http www openrtm org openrtm Ja project NEDO In telhgent_PRJ_ID367 http www openrtm org openrtm Ja project NEDO In telhgent_ 10370 graspPlugin for Choreonoid http openrtm org openrtm Ja project N EDO Intellige nt PRJ HiroAccPrj 1002 HiroNXInterface http openrtm org openrtm Ja project N EDO Intellige nt PRJ HiroAccPrj 1003 m http openrtm org openrtm Ja project N EDO Intellige nt PRJ ID226 Ve
460. 12011 pp293 298 Tnteractive System for Sharing Objects Information by Gesture Jiguo Zhen Hirotak a Aoki Eri sato Shim okawara Toru Yamag and Voice Recognition uchi between Human Robot with Facial Expression 2011 12 23 12 1K3 2 2012 1 1 InTech The Future of Grasp Planning for Tsuji K Harada Humanoid Robots Humanoid Hand K Kenji F Kanehiro Research and K Maruyama Applications 2012 2 1 Journal of Robotics and Specification and Y Matsusaka H Asoh Mechatronics Vol 24 Implementation of Open F Asano No 1 pp 86 94 Source Software Suite for Realizing Communication Intelligence 2012 2 2 85 GIG FPAT T fis 2012 3 15 1 7
461. 32 23 11 22 H http www robonable jp Se 2 se 33 P uz 33 23 11 24 EN http www robonable jp s xF V E 2a 12 58 2011 mm pecial 2011 12 part4 html umb yn m http www robonable jp CPP e 24 1 1 M BAM 35 24 1 18 J D e RES 1 21 8 1 2009 8 P 21 2 1 8 19 KIPPO NEWS 2009 8 19 Vol 16 1 MONTLY No 593 i MZ aR 2 1 P 11 3 21 8 25 009 0H 3 x a RIEN
462. 5 848 right true sdlEngine local ports rightarmService Middle moveGr ipper 87 SleepTime 4000 CartesianSpeed cartesianSpeed new CartesianSpeedO cartesianSpeed translation 60 0 cartesianSpeed rotation 20 0 sdlEngine local ports rightarmService 41 setMaxSpeedCartesian cartesianSpeed LumbarmoveCooperati ve 0 0 15 0 15 0 false carPos 0 400 546 carPos 1 75 071 carPos 2 0 558 carPos 3 155 0 carPos 4 40 958 carPos 5 40 511 NEDO ArmMoveLinearAbs carPos 25 848 right true reqDbI_ 0 19 68 reqDbl_ 1 43 25 reqDbI_ 2 5 29 reqDbI_ 3 109 740 reqDbI_ 4 40 94 reqDbI_ 5 0 28 reqDbI_ 6 10 12 movePTPJointAbs regDbl right true Jelse H sdlEngine local ports leftarmService Middle openGripper O LumbarmoveCooperative 10 0 10 0 10 0 false double reqDbl_ new double 7 reqDbl 0 40 reqDbl 1 40 regDbl 2 0 regDbl 3 90 regDbl 4 0 regDbl 5 0 regDbl 6 0 movePTPJointAbs regDbl left true reqDbl 0 40 regDbl 1 20 redDbl_ 2 20 reqDbI_ 3 90 reqDbI_ 4 20 reqDbI_ 5
463. 6 RT 2A1 B20 Ben Ws 2010 6 14 ARR HE 2010 CD ROM 1P1 C12 2010 6 16 3B 2A1 C09 Ahn Byong won 2010 6 16
464. 64 db qr i cC 64 LocalizationComp 66 LocalizationComp 66 s eH Sus M CE 68 PIS 68 m dU M E NNNM m 68 MRFC AbsoluteMapService 69 Ep M a 69 da uri 70 SimpleGlobalMapLoaderComp ZE 7 y A 0 71 SimpleGlobalMapLoaderComp 72 arr GG 73 MRFC AbsoluteMapService 7 73 74 NEDO D OEC DANS EN NN 74 zc 3 92 SLAMComp 827 ZE n nn 78 K Ug SAMCOMD I E LR 76 S 9 93 DUE SUE A o e UR 77 RR ER l D T Dun 77 77 X 3 97 MRFC AbsoluteMapService 7 77 sP eu M NN Nf Ik 78 78 HG ODBI SCIT ede ida e edi etd db db 2 79 X 83 101 GlobalMap ViewerComp 2 S0 X 702 GlobalMapWewerComp 7 ZZ EFP F aad ndi addas 81 a U0 er PRESS rrr 82 sc HUS em 82 X 3 105 MRFC AbsoluteMapService TF a 82 av DUUD Ee rampe
465. 7 MotionSet_setting PathPlannerV2Comp zx 3 142 MotionSet_setting No 1 make_MotionSet exe 2 read_MotionSet exe 107 NEDO 3 17 1 make MotionSet exe 1 3 143 make_MotionSet exe WindowsXP Pro SP3 Visual studio 2008 1 0 2 MotionSet_setting make_MotionSet exe
466. 8 2009 200978 12 2009783 18 2009 04 07 ESEC2009 200975718 2009 5 15 2009710715 2009 10 16 2010 06 17 28 2010 09 22 2010 09 24 2010 10 07 2010 10 12
467. 8 MOBILEROBOTSCONTROLLERCOMP 110 3 18 1 O i aD cot na D kun Me esi 110 3 18 2 111 DIEM ws e R aba 112 3 19 DUMY VELOCITY DATACOMP 114 9 19 1 ERE UTE PIER roro dot tasted eta i eet ettet uli a ru ite Da Dan Dan Dana 114 3 19 2 ap sSasa 115 S95 IU pao a dt atn qd a Add ias 116 3 200 GLOBALPATHPLANNERCOMP i 117 3 20 1 SENILIS 117 3 20 2 NO AU WS NL ELM KIM C m 118 SON hos 0 m S ELDER nan naman SD Qus acia ie nd 119 3 931 DUMMY2POSESSENDERCOMP 121 8 21 1 S AT SET Saul aaa aaa Taula Taula 121 3 21 2 NO A nM cire 122 8213 A 7 c cup mem WT n kan aha 123 2r EE E E aa 125 MEE 125 efe Ree SDN Tautan unu aan aaa amaata a 125 41 20 126 UI _ M 130 42 ki 132 LN NE CoU ib Arp RETE 132 iv NEDO 45 deest DoD TERR a at
468. 8 RT RT O h Z J Z OX TP lt O h EB 2011 11 22 R IRT T O 2011 12 18 IRT O H 2 3 4 2008 6 10 R 2008 ROBOMEC 2008 in NAGANO 3 http www sec co jp news 20080610 html 2009 11 20 2009 RT http www sec co jp news 20091120 html 2010 6 10
469. 9153 Suid http www nikkeibp co jp n _ 23 23 10 11 BPnet 7article news 20111011 2 86886 xe v 2 http www robonable jp E d Mt s zh V 24 23 10 11 news 2011 10 mitsubishi 1011 html e NS s http www zaikei co jp ar HAH m Z HAI N 25 23 10 11 ticle 20111011 83072 htm 1 26 23 10 11 ARC http www arcweb com a rc japan arcwire lists pos ts post aspx id 3393 27 23 10 11 D http sankei jp msn com economy news 111011 biz 11101113460007 n1 htm 28 23 10 11 Ry SankeiBiz http ww w sanke
470. A Oe B E UDI BID 10 Python URL 10 OpenRTM aist Java 1 0 0 RELEASE URL 11 OpenRTM aist C 1 0 0 RELEASE URL 11 OpenRTM aist Python 1 1 0 RC1 URL Lk 11 OpenRTM Eclipse tools 1 0 RELEASE URL 11 ANT U URL uo reU asha 12 IRA D EUER E BEDS e ta dew a ag Ra RR RR aayqa 12 OpenHRI F DB iunio amita 12 SDLEngine DF Y y u F URL 18 Pccoup EN u a tt E aaa sanu sau US 14 aa adt wapa D e ei ARR 15 EQUI SE 2 Z ARN MI NE a 15 SDLEngine 4 VA Z AU Le tectae tatnen AS 17 Xa rade Me rrr emet e T 18 128 BOR AR A RDO datio 26 2 Maud INN MN MIN NT 27 Visual C 2008 Express Edition URL enm 28 OA p BE Eod e ethos he tv e o na c v n dt 28 Javas DOA TA m NUM 2 29 OpenHRP3 URL 29 OpenHRP3 URL 29 SDLEngine URL 30
471. BB07 20081123 txt e depth model NEDO 3 8 PeopleTrackingTestComp 3 8 1 PeopleTrackingTestComp PeopleTrackingComp X 3 11 PeopleTrackingTestComp PeopleTrackingTestComp lt lt DataInPort gt gt Peopleln Ed 3 12 PeopleTrackingTestComp 3 74 PeopleTrackingTestComp RTC WindowsXP Pro SP3 NEDO Ii m SAL se JE Open rtm aist 1 0 0 C HH Visual studio 2008 OpenCV 2 1 10000Hz 1 0 0 3 8 2
472. Comp a X 3 99 No 1 ric conf NEDO b rtc conf rtc conf SLAMComp 4 1 3 3 100 rtc conf No 1 corba args ORBgiopMaxMsgSize 20000000 omniORB 1 3 12 GlobalMapViewerComp 3 12 1 GlobalMapViewerComp 3 18 lt 3 18 GlobalMapViewerComp
473. DataFlowCompComp 3 60 No un 1 distanceOut TUT TimedImageDa corba_cdr ta 2 URGDataFlowCompComp m LRSServicePort registerProvider LRSService SensorRTC LaserRangeSensor idl LRSService m LRSService X 361 No 1 LRSService LRSService0 SensorRTC Laser RangeSensor idl LRSService 3 62 SensorRTC LaserRangeSensor idl LRSService I Z F No 1 resetSencer boolean Setropkt Tek T LRSServiceException LRS 2 ge
474. I Web 2007 10 185 4 2008 Web Impress Robot Watch 2008 11 14 50 Web 2008 11 25 2008 38 7 N 2008 TV 2009 1 H 16 A R25 2009 3 5 2025 Part TV BSI1 2009 3 13 INsideOUT TV 2009 3 27 MANAGEMENT 2009 4 1 SQUARE 2009 4 1
475. Kazuhito Yokoi AIST Intuitive and Flexible User Interface for Creating Whole Body Motions of Biped Humanoid Robots 2010 IEEE RSJ International Conference on Intelligent Robots and Systems October 2010 54 Eiichi Yoshida AIST Kazuhito Yokoi AIST and Pierre Gergondet AIST Online Replanning for Reactive Robot Motion Practical Aspects Proc IEEE RSJ 2010 International Conference on Intelligent Robots and Systems IROS 2010 5927 5933 2010 55 Hajime Saito General Robotix Japan Open Source Manipulation Software for Upper torso Humanoid Robots IROS2011 Workshop on Toward a Robotics Software Platform 2010 10 56 Geoffrey BIGGS AIST Noriaki ANDO AIST Tetsuo KOTOKU AIST Native robot software framework inter operation International Conference on SIMULATION MODELING and PROGRAMMING for AUTONOMOUS ROBOTS SIMPAR 2010 pp 180 191 2010 11 Darmstadt Germany ISBN 978 3 642 17318 9 ISSN 0302 9743 57 Geoffrey BIGGS AIST Noriaki ANDO AIST Tetsuo KOTOKU AIST Run time management of component based robot software from a command line International Conference on SIMULATION MODELING and PROGRAMMING for AUTONOMOUS ROBOTS SIMPAR 2010 pp 192 203 2010 11 Darmstadt Germany ISBN 978 3 642 17318 9 ISSN 0302 9743 58 Geoffrey BIGGS RT
476. L01 2011 5 119 0 RTC CANopen 29 3B1 3 2011 9 H 120 WE ZA Ei IX PAR 11 12 SI2011 104 4 1 3 2011 12 121 We EX 12 SI2011 104 5 1 3 2011 12 122 Z RTC CANopen 12 SI2011 3P1 1 1 4 2011 12 123 X E
477. Mean Shift 2010 6 LRF ZG 14 16 2010 ROBOMEC2010 2010 7 H 4 7 Proceedings of Quantitative Yuta Kimura H the 25th Evaluation of Hiroshi International Robust Visual Takemura Technical Detector and Hiroshi Conference on Tracker Using Mizoguchi Circuits Systems Color Computers and Information Communications under ITC CSCC2010 Illumination Change 2010 8 H Proceedings of A Quantitative Yuta Kimura 18 21 H SICE Annual Evaluation of Hiroshi Conference 2010 Robust Detecting TakemuraHiros SICE2010 and Tracking hi Mizoguchi Methodsunder Illumination Changes Using Color Stereo Camera 2010 8 H Proceedings of Study of Ryoma Arai 18 21 H SICE Annual Functions for Hiroshi Conference 2010 Robot Returned Takemura SICE2010 from Parking to Hiroshi Store Mizoguchi Autonomously 2010 8 H Proceedings of Robust Tracking Kazuki 18 21 H SICE Annual Method by Hiroshi Conference 2010 Mean Shift using Takemura SICE2010 Spatiograms Hiroshi Mizoguchi 2010 10 2010 IEEE Quantitative Yuta Kimura 10 13 H International Evaluation Hiroshi Conference on Meth
478. PathPlannerV2Comp 20 i 101 Bj 3 27 make MotionSet exe KIT gt PODES 108 E 9 28 ERTI UA OERE arae tete etel 108 ED BORAS SUE TUI p OER frescos 108 BE OUO WEN EU EM ND Pe NR NB D NR DU RN 109 E 8 31 SUE I uuu 109 PU S G ES FL Q m u 109 Ej 3 933 MobileRobotsControllerComp O FK amp 110 MN 9 94 RT System ditor 2 5 O com_port_no DORE 113 By 3 958 Dump velocity dataComp 114 E 8 86 Dumy velocity dataComp BEBE 114 Ey 3 37 GlobalPathPlannerComp 00 117 E 3 38 DummyZ2PosesSenderComp D 2 0 2 121 B 4 1 RT SystemEditor 130 cc DE 131 E E 133 ELL FATES SR DT mmm 154 IEL OS dw OUI i 135 Beg Gc ma CUR aM 148 xii 1 2 PointGrey Bumblebee2 HF H
479. RG 1H 19 5 1 3 36 SensorRTC LaserRangeSensor iid1 TimedMeasuredData NEDO tm data RTC Time SensorRTC LaserRangeSensor zidl MeasuredData 3 37 SensorRTC LaserRangeSensor iidl MeasuredData startPosition endPosition scanInterval dataGroupingNumber distance dataInterval sensorState distance distance float float long long sequence lt long gt float string K 3 38 SensorRTC Lase
480. RTC 2 Top URG RTC 2 1 http creativecommons org licenses by sa 2 1 jp 1 5 2 1 Open rtm aist 1 0 0 C Open rtm aist 1 0 0 C EPL Eclipse Public License
481. RelativeOGMapData MREC TimedRelativeOGMapData octed octed 8bit 128 127 0 100 1 1 4 2 4 NEDO 3 13 MREC TmmedRelativeOGMapData X octed tm mapconfig RTC OGMapConfig cells octed RTC OGMapCells pose RTC Pose2D X 3 14 IIS TimedRelativeOGMapData gt TRUM RAIN
482. Scan interval lt lt gt gt nli TH S x 2 Eb SAT y 63 INFO Data grouping number lt lt gt gt 140 NEDO No 64 INFO Device Already Opened RTC 65 INFO onInitialize Component created onInitialize RTC 66 INFO onFinalize Finalizing onFinalize RTC 67 INFO onFinalize Component finalized onFinalize 6 1 5 PeopleTrackingV2Comp No 1 ERROR flycaptureStartO reported The IEEE1394 requested bandwidth would exceed Bumblebee2 the maximum ViewPLUS Web http www viewplus co jp support
483. Sra dcs Mp Curr MN TEN 6 pi B A mutet Potatoes 7 x esteso REOR Rute NE 8 Spm6 0 23 RE 25 IE 25 NOE UIS 1 c E 26 OpenHRP3 BI 7 39 Pse lc E 41 mA na ss 42 eder 42 i 42 IN 43 BFD ER iii 51 ERR CA OpenHRP3 MEA 2 68 NEDO RT RT 3 1 2 1 3 1 3 1 1 1 RT
484. TC OS WindowsXP Pro SP3 IN sa JE Open rtm aist 1 0 0 C Visual studio 2008 OpenCV 2 1 200Hz 2 1 0 0 3 9 2 10 LocalizationComp 3 79 LocalizationComp No 1 onInitialize 2 onActivated 3 onExecute 1 1 4 onDeactivated
485. TCO text env connect env handles SDLEngineO rtc ports SDLEngineO status env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO status PortAudiolnput activate if handles PortAudioOutputO null env connect env handles PortAudioOutputO rtc ports PortAudioOutputO AudioDataln env handles OpenJTalkRTCO ports OpenJTalkRTCO result env handles PortAudioOutputO rtc activate env handles OpenJTalkRTCO rtc activate VehicleServiceProvider SDLEngine activate if handles VehicleServiceProviderO rtc znull env connect env handles VehicleServiceProviderO ports VehicleServiceProviderO VehicleServicePro vider env handles SDLEngineO rtc ports SDLEngineO VehicleServiceConsumer env handles VehicleServiceProviderO activate OpenHRP3 if handles UnitEmuAdapterO rtc null env connect env handles Uni tEmuAdapterO rtc ports transfseqo env handles Uni tEmuControl lerO rtc ports UnitEmuControl lerO transfsegi env connect env handles Uni tEmuAdapterO rtc ports valueseqo env handles Uni tEmuControl lerO rtc ports Uni tEmuControl lerO valueseqi env handles Uni tEmuAdapterO
486. Talk CLEF false sdlEngine local ports vehicleService stop if match sentence kitTalkC false sdIEngine local ports vehicleService stopO VclMoveLinearRel 0 0 0 0 90 0 public int getValue this joinO return this value kitTalk String TalkingWords if handles PortAudioOutputO null kitTalk TalkingWords true kitTalk String TalkingWords boolean wait if handles PortAudioOutputO rtc null while SubTalkstartFlag SleepTime 200 print TalkingWords 0penJTalk sdlEngine local ports SDLEngineO text out put TalkingWords if wait SleepTime 1500 while SubTalkstartFlag NEDO SleepTime 200 VclMoveLinearRel double x double y
487. V2Comp X 3 70 No 1 PeopleTrackingSe MRFC PeopleTrackingS rvicePort ervice 3 71 MRFC PeopleTrackingService IF No getTrackingData MREC TimedPeopleTrackingData B NEDO b PeopleTrackingV2Comp 3 PeopleTrackingV2Comp 8 72 No 1 DataPortOutputType short int T B D 0 TsRobotCoord TrackingPeople
488. Video of Adjacent Local Kazuhiro Fukui Technology Binary Patterns PSIVT2011 2011 12 IEEE SICE Int Gollisron Jianing Zhou 20 22 H Symp on System Avoidance of Two Kazuyuki Integration SII2 Manipulators Nagase Shinya 011 Using Kimura and RT Middleware Yasumichi Aiyama 2011 12 12 RT Component for G R G 23 25 H analyzing a Alfonso motion script tol EE implement a service using thel m humanoid robot HRP 4 2011 F 12 H 12 RT 3 amp J TT 23 25 PE 2012 2 H Journal of Data Tsuyoshi Robotics and Communication Suenaga 2 3 3 1 Mechatronics Support for Kentaro Reusability of Takemura Jun RT Components Takamatsu and Converter Tsukasa Classification Ogasawara and Prototype Supporting Tool
489. a NEDO 3 18 MREC PeopleTrackingData ID id iq long person uz sequence lt MREC PersonData gt 3 19 MREO PersonData position BDA RTC Point3D velocity fJ 00 3 BE RTC Velocity2D 3 20 MRFC TmmedPeopleTrackingData tm data id iq person position 3 velocity
490. ackingV2Comp Bumblebee2 6 PeopleTrackingTestComp PeopleTrackingV2Comp 7 LocalizationComp 8 SimpleGlobalMapLoaderComp 9 SLAMComp 10 GlobalMapViewerComp 11 LocalMapComp 12 LocalMapViewerComp 13 EnvironmentSimulatorComp 14 PathPlannerV2Comp 15 MotionSet_setting 16 MobileRobotsControllerComp MobileRobots 17 Dumy_velocity_dataComp
491. ailue of reset sensor 13 ERROR resetSensor failure of set motor slow rate 14 ERROR resetSensor failure of sensitive mode 15 ERROR checkAllConfigureParameters error lt lt gt gt 16 ERROR getResponse Port closed RTC 17 ERROR onActivated parameter error 18 ERROR onActivated failure of reset sensor
492. ba cdr 4 localization port IIS TimedPose2D corba cdr 5 float_map MRFC TimedFloatRelati corba_cdr Eq 2 veOGMapData 6 tracking people MRFC TimedPeopleTrack corba_cdr ingData b PathPlannerV2Comp 33135 No m 1 robot control IIS TimedVelocity2D corba_cdr 2 planning_img TUT TimedImageData corba cdr 2 MovingObstaclePort MRFC PeopleTrackingService getTrackingData MREC TimedPeopleTrackingData data MRFC PersonData
493. c9 100212 msi e OpenRTM aist Python 1 1 0 RC1 K 849 URL 3 9 OpenRTM aist Python 1 1 0 RC1 URL 9 w oq Ses http openrtm org openrtm ja node 4526ftoc5 ZO ge S 22 Se AE http www openrtm org pub Windows OpenRTM aist python OpenRT M aist Python 1 1 0 RC1 msi f OpenRTM Eclipse tools 1 0 RELEASE X 3 10 URL eclips K 3 10 OpenRTM Eclipse tools 1 0 RELEASE URL ZO Sus http www openrtm org openrtm ja content openrtm eclipse tools 10 r elease toc0 ZU sg SZ ea e http www openrtm org pub OpenRTM aist tools 1 0 0 eclipse342 rtm tools100release win32 ja zip NEDO 9 Apache Ant 1 8 2 _ URL
494. chieve Increased Safety 57 2009 TE 7 A24 2009 and sability and a Study PEFC on the Effectiveness of Wireless Terminals 6 2009 93 18H 2009 H 2 RTC PEC PS E EED EN E AAS 2009 2 857 sb REN T THE eM 8 2009 12 24 BICE 512009 IDEC t mM 3 Om m 0572 rE 9 2010 6 11 2010 IDEC Ln 2 RTC SE 10 2010 9 24 2010 A IDEC eS s 11 2010412 24 An SI2010 ES IDEC
495. dian Y DE EHE m heading X E 1 2 3 origin 0 xScale X m cell yScale Y m cell width X cell height Y cell origin cell 0 0 xScale m cell E F 21 S E ki gt 5 EM i E E a i gt width X origin cell 0 0 13 4 xScale X my cell yScale Y m cell width X cell height Y
496. dles SDLEngineO rtc ports SDLEngine0 RightArmServiceConsumer env connect NEDO env handles rightarmServiceO rtc ports rightarmServiceO ManipulatorCommonlnterface Com monProv ider env handles SDLEngineO rtc ports SDLEngineO Ri ghtCommonServ i ceConsumer env connect env handles rightarmServiceO rtc ports rightarmService0 ManipulatorCommonInterface Midd leProvider env handles SDLEngineO rtc ports SDLEngine0 RightMiddleServiceConsumer env handles rightarmServiceO rtc activate leftarmService SDLEngine activate if handles leftarmService0 rtc null env connect env handles leftarmServiceO rtc ports leftarmServiceO leftarmService env handles SDLEngineO rtc ports SDLEngineO LeftArmServiceConsumer env connect env handles leftarmService0 rtc ports leftarmServiceO ManipulatorCommonInterfa ce CommonProvider env handles SDLEngineO ports SDLEngineO LeftCommonServ ceConsumer env connect env handles leftarmServiceO rtc ports leftarmServiceO ManipulatorCommonInterfa ce MiddleProvider env handles SDLEngineO ports SDLEngineO LeftMiddleServiceConsumer env handles
497. dual i Hiroshi Matsuhisa vibration Vibration of the Robot Arm Keisuke Yamada The 11th Yukio Horiguchi IFAC IFIPAFORS IEA Kohei Kurono Ecological Interface I 2m Symposium on Design for Teachin Hiroaki Nakanishi 51 XX 22468 H 31 Analysis Design and 8 ng Tetsuo Sawaragi Assembly Operations to Evaluation of Industrial Robot Tatsuya Nagatani Human Machine PUTAS Akio Noda Systems Kenichi Tanaka Preprints of The 11th IFAC IFIP IFORS TEA P S Semiotic Design of YP s eu Human Machine and 52 Xp 22 4E 8 31H Analysis Design and H Envi Tetsuo Sawaragi uman Environment Human Machine Systems Systems 14th International Conference on A Semiotic View of Social Knowledge Based and Intelligence for Realizing 53 22 9 8 Intelligent Human Machine Tetsuo Sawaragi Information amp Symbiotic Systems Engineering Systems Keynote Speech KES 2010 54 22 9 16 Dynamics amp Design Piana Conference2010 dn E RES 2 SR qoe nh ss PA TINO AEA
498. ea Into sm LL mt sh scs 34 TUT Arealink FA guttis IN MR el d e dL 34 TUT borderlipe c FF tiii riii risinn 35 TUT TimedArealnto 35 SensorRTC LaserRangeSensor idl TimedMeasuredData E E 35 SensorRTC LaserRangeSensor Aidl MeasuredData FZ 3 wb 36 SensorRTC LaserRangeSensor idl TimedMeasuredData 77 5 36 SensorRTC LaserRangeSensor idl TimedStatus 7 Z Z gt 37 SensorRTC LaserRangeSensor Aidl Status 38 SensorRTC LaserRangeSensor Adl TimedStatus 39 SensorRTC LaserRangeSensor idl LRSServiceException 7 Z 4 v y h OT ROTT 40 SensorRTC LaserRangeSensor AdlI LRSServiceException 0 code gt 27 Dp 41 Bumblebee2ModuleComp ZE ZZ IMs enean tha sata eats 42 Bumblebee2ModuleComp 43 u sy LM 44 toten M 44 E LUE Uta E siiis 44 ShowlmageComp A 46 ShowlmageComp Z2 F4 47 PARU M D RT 48 VIL 48 StereolmageViewerComp he UM 49 StereoImageViewerComp 50 vli NEDO
499. ebee2ModuleComp O 0 Ko PEHE 42 EU 9 4 ShowlmageComp e e M 46 Ed 9 6 ShowlmageComp D z N K 46 27 3 6 StereoImageViewerComp J7WIff a 49 Ey 3 7 StereolmageViewerComp 49 EB 3 8 URGDataFlowCompComp O 62 3 9 PeopleTrackingV2Comp 77 7 a e a da 58 E 8 10 People IrackingV2Comp D 2 58 E 3 11 People TrackingTestComp 62 E 3 12 PeopleTrackingTestComp D 62 BIST gE ERR hs 65 py 3 14 LocalizationComp O2 ettet t ea 65 NEDO Z 9 16 QM MEM kt 66260 Ru 66 71 Ej 3 16 SimpleGlobalMapLoaderComp 22 71 BI 8 17 SLAMComp pe bibe er assis 75 BU Gus GUN scis Sie rm e m rn pL EE 80 E 3 19 GlobalMapViewerComp O uester S0 BS DE WM OT RESTER aans 84 3 21 LocalMapComp D24 RI BF er 84 By 3 22 LocalMapViewerComp aaa 88 VE Lp m SEO B a ut am h 92 Ed 3 24 EnvironmentSimulatorComp 4 BERE 93 B 3 25 KART RTOH RE aa 100 Z 3 26
500. ed SubTalkstartFlag true if event getValue data equals finished SubTalkstartFlag false NEDO public abstract class Thread main extends Thread public String sentence public int getValue public void Thread_main tGetEvent text_in sdlEngine local ports SDLEngineO text addListener new jp ac kyutech SRP Scripting InPortList ener dataReceived event print Received event getValue data String sentence SubvoiceChk event getValue Q data tGetEvent new SubvoiceChk20 tGetEvent sentence sentence tGetEvent start Q 7 SleepTime long waitTime try Thread sleep waitTime catch Interru
501. eftarmService Common sdlEngine local ports leftarmService Common sdlEngine local ports leftarmService Middle sdlEngine local ports leftarmService Middle sdlEngine local ports leftarmService Middle sdlEngine local ports leftarmService Middle double maxSpeedJoint new double 7 maxSpeedJoint 0 25 0 maxSpeedJoint 1 25 0 maxSpeedJoint 2 25 0 maxSpeedJoint 3 25 0 maxSpeedJoint 4 25 0 maxSpeedJoint 5 25 0 maxSpeedJoint 6 25 0 sdlEngine local ports leftarmService Middle servoONO clearAlarms setAccelTimeCartesian 0 5 setAccelTimeJoint 0 5 setSpeedCartes ian 100 setSpeedJoint 100 setMaxSpeedJoint maxSpeedJoint CartesianSpeed cartesianSpeed new CartesianSpeedO cartesianSpeed translation 60 0 cartesianSpeed rotation 20 0 NEDO sdlEngine local ports leftarmService Middle setMaxSpeedCartesian cartesianSpeed if handles LumbarServiceProviderO rtc null sdlEngine local ports vehicleService clearAlarmO sdlEngine local ports LumbarService clearAlarmsO sdlEngine local ports LumbarService tu0n 0 sdlEngine local ports vehicleService setPower true sdIEngine local ports LumbarService 0 sdlEngine local ports vehicleS
502. egDbl 1 regDbl 2 regDbl 3 regDbl 4 regDbl 5 regDbl 6 0 movePTPJointAbs regDbl right false Jelse double carPos new double 6 carPos 0 480 546 carPos t 25 071 carPos 2 40 558 carPos 3 200 0 carPos 4 25 958 carPos 5 40 51 ArmMoveLinearAbs carPos 25 848 left true double carPos new double 6 carPos 0 520 546 carPos 1 25 071 carPos 2 50 558 3 200 0 4 15 958 carPos 5 40 511 ArmMoveLinearAbs carPos 25 848 left true sdlEngine local ports leftarmService Middle openGripper O SleepTime 4000 LumbarmoveCooperative 0 0 10 0 10 0 false reqDbl_ 0 19 68 reqDbl_ 1 43 25 reqDbI_ 2 5 29 reqDbI_ 3 109 740 reqDbl_ 4 40 94 reqDbI_ 5 0 28 reqDbI_ 6 10 12 movePTPJointAbs regDbl left false sdIEngine local_ports leftarmService_Middle closeGripper while armisMoving left SleepTime 200 regDbl 0 redgDbl 1 reqDbl_ 2 regDbl 3 regDbl 4 regDbl 5 regDbl 6 0 movePTPJointAbs regDbl left false VclMoveLinearAbs 0 0 0 0 0 0 Grip flg false Listener flg true
503. el2DSeq Z n calet alea 24 MRFC TimedEstimatedPose2D 77 2 Z s gt P sse 25 MRFC TimedEstimatedPose2D gt a 25 MRFC TimedRelativeOGMapData 26 IIS TimedRelativeOGMapData EN i 26 MRFC TimedFloatRelativeOGMapData 7 Z Z 26 IIS TimedFloatRelativeOGMapData 27 MRFC TimedPeopleTrackingData 7 Z 7 gt 27 MRFC PeopleTrackingData 28 F T FC TR 28 MRFC TimedPeopleTrackingData 28 MRFC TimedAbsoluteOGMap Data 29 NEDO MRFC TimedAbsolute0GMapData 2 5 i 29 MRFC TimedFloatAbsolute0GMapData 29 MRFC TimedFloatAbsoluteOGMapData 7 A 30 TUT TimedImageData 30 TUT ImaseData P tnt thes ete Res etos Rebus iets 31 TUT TimedImageData i 31 TUT TimedStereoData Rai 32 TUT StereoData P ERR EUR HE EHE 32 TUT TimedStereoData FZ FERH 33 TUT TimedArealnfo mde ttp pd Ep ERR 33 TUT Ar
504. enhrp3 5 pulseaudio 0 9 21 PortAudioInput PortAudioOutput OpenHRIAudio 4 libJulius 4 1 2 Julius OpenHRIVoice open JTalk 1 0 0 OpenJTalk OpenHRIVoice PyYAML 3 0 5 OpenHRP3 http pyyaml org java3D 1 4 0_01 OpenHRP3 http www oracle com technetwork java javas ebusiness downloads ava archive downloads java client 419417 html OpenCV 2 8 http sourceforge net projects opencvlibrary NEDO 5 4 3 5 5 5 5 1 5 5 2 1 OpenCV
505. ervice setServo true Ed status 7 sdIEngine local_ports SDLEngine0 status addListener new jp ac kyutech SRP Scripting InPortListe dataReceived event print status event getValue data if event getValue data equals started SubTalkstartFlag true if event getValue data equals finished SubTalkstartFlag false J r object pos D D D IM sdlEngine local ports SDLEngineO object pos addListener new kyutech SRP Scripting InPortL istener dataReceived event if event getValue data 4 0 if Tfind fig 1 pr i nt for int iz8 iXevent getValue data length i object pos i 8 event getValue data i for int 1 0 lt getValue data length i print event getValue data i 7 pr i nt find flg true
506. g InPortListe dataReceived event print status event getValue data if event getValue data equals started SubTalkstartFlag true if event getValue data equals finished SubTalkstartFlag false public abstract class Thread main extends Thread public String sentence public int getValue public void Thread_main tGetEvent text_in sdlEngine local ports SDLEngineO text in addListener new kyutech SRP Scripting InPortListener dataReceived event String sentence SubvoiceChk event getValue Q data tGetEvent new SubvoiceChk20 tGetEvent sentence sentence tGetEvent start KU BEISETNS SubvoiceChk String sentence String voicedata String sentencearray sentence split gt lt Strin
507. g chkword rank Y 1y for int i 0 i lt sentencearray length i int chkwordpos sentencearray i indexOf chkword if chkwordpos 1 chkword text chkwordpos sentencearray i index0f chkword voicedata sentencearray i substring chkwordpos chkword length 1 sentencearray i length 1 break return voicedata public class SubvoiceChk2 extends Thread main return NEDO private int value public void run if match sentence kitTalk false sdlEngine local ports vehicleService stop VclMoveLinearRel 500 0 0 0 0 0 if match sentence kitTalk false sdlEngine local ports vehicleService stopO VclMoveLinearRel 500 0 0 0 0 0 if match sentence kitTalk false sdlEngine local ports vehicleService stopO VclMoveLinearRel 0 0 500 0 0 0 if match sentence 2 kitTalk false sdIEngine local ports vehicleService stop VclMoveLinearRel 0 0 500 0 0 0 if match sentence kit
508. geneous Dynamic Takehisa Kohda Akio Noda 2009 Bayesian Network 36 u 10 SI ad 37 10 ERER BUNKR SI PRIPA AV Kon PL E stib SI mhe 1 i 39 x SI 40 X 10 RAT SI Aere 10 ur SI h 10 gl pa f H Astma
509. gt lt lt DataOutPort gt gt VehicleVelocityIn VehicleVelocityOut lt lt DataOutPort gt gt VehicleOdometry Ed 3 33 MobileRobotsControllerComp X 3 145 MobileRobotsControllerComp RTC OS WindowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 ARIA 2 71 200Hz US uae 1 0 0 10 110 NEDO 3 18 2 MobileRobotsControllerComp 3 146 MobileRobotsControllerComp No 1 onInitialize 2 onActivated COM 3 onExecute 4 onDeactivated
510. har long 39 27 TUT TimedImageData tm data nChannels lor20r3or4 depth 1 ss NEDO 0 1 width height ES origin imageSiz imgData widthStep TUT TimedStereoData TUT TimedStereoData dqdata
511. hikawa J Miura and Its Application to Robot Motio and J Satake n Planner Development 3 4 2009 2 11 H Ei rh OO READ EAE 76 D dw b uc 2009 8 H 22 28 2009 OT RT 2009 11 25 28 2009 NEDO 2011 11 9 H 12 2011 NEDO 2012 1 19 RT
512. i K chatronics pp 498 503 ponents onno and Masaru Uc hiyama 2010 10 6 International Conferen Specification and Impl Yosuke Matsusaka Isa ce on Advanced Mechatr onics ementation of Open Sou rce Software Suite for Realizing Communicati on Intelligence o Hara Hideki Asoh Futoshi Asano 2010 10 12 2010 IEEE Internationa 1 Conference on System s Man and Cybernetics pp 3405 3412 Perceptual System usin g Spiking Neural Netwo rk for an Intelligent Robot H Masuta and N Kubo ta 2010 10 19 Proc IEEE RSJ Int C onf Intelligent Robots and Systems pp 3875 3 Extraction of Candidat e Points for a Destinat ion Estimation Method Yoshitaka Terada Soi chiro Morishita and Hajime Asama 880 Based on Behavior Dy namics 2010 10 19 Proc IEEE RSJ Int C Smooth collision avoida Yusuke Tamura Tomo onf Intelligent Robots nce in human robot Fukuzawa and and Systems pp 3887 3 xisting environment Hajime Asama 892 2010 10 19 IEEE RSJ Int Conf on Floor Sensing System U Yasunobu Nohara Tsut Intelligent Robots an sing Laser Range Finde omu Hasegawa and Kou d Systems IROS pp 1 r and Mirror for Local ji Murakami 030 1035 izing Daily Life Commo dities 2010 10 20 IEEE RSJ Int Conf on
513. ibiz jp b usiness news 111011 bsc 1110111346001 n1 htm 29 23 10 11 Cybouzu net http news cybozu net ne ws nikkeibp products 201 1101120267 html SI http www robonable jp 30 F 23 10 H 25 A FA news 2011 10 kodaira mi tsubishi 1025 html 2011 GREX2011 p M MR http www robonable jp s 31 28 1 4 Zw AU pecial 2011 11 preview ir ex2011 html nid uy POSTEN http www robonable jp SENE 4 28 11 H 22 RA 5
514. iceConsumer env disconnect env handles MarkerRecognitionO rtc ports MarkerRecognitionO object position env handles SDLEngineO rtc ports SDLEngineO object pos 5 7 1 SDLEngine omniNames bat 3 70 Z R RTC a OpenHRI OpenHRIHI 3 7 2 a b OpenHRP3 C C OpenHRP 3 1 0 beta4_grip Ex OpenHRP bat OpenHRP8 GrxU1 GrxU1 COpenHRP 3 1 0 beta4_grip user projectSmartPal5 xml NEDO 2 Wie SDF oki ERE T S RUU diia
515. iceProvider0 rtc null env disconnect env handles VehicleServiceProviderO ports VehicleServiceProviderO VehicleServicePr ovider env handles SDLEngineO rtc ports SDLEngineO VehicleServiceConsumer env handles VehicleServiceProviderO deactivateO if handles UnitEmuAdapterO null env handles Uni tEmuAdapterO deactivate env disconnect env handles Uni tEmuAdapterO rtc ports transfseqo env handles Uni tEmuControl lerO rtc ports UnitEmuControl lerO transfsegi env disconnect env handles Uni tEmuAdapterO ports valueseqo env handles Uni tEmuControl lerO rtc ports Uni tEmuControl lerO valueseqi 4 7 1 SDLEngine omniNames bat 3 71 FAE nl 2 RTC a pent OpenHRII 3 7 a mk b OpenHRP3 C OpenHRP 3 1 0 beta4_move Ex OpenHRP bat
516. ie nt Intelligence pp 485 488 Design of Location Ma nagement Module and Environment Server for Constructing of Intelli gent Environment Spac e Inyong Ha Yusuke T amura Soichiro Moris hita Hajime Asama Itsuki Noda Yasushi Hada and Hiroyuki Okamoto 2008 11 21 THE 5TH INTERNATI ONAL CONFERENCE ON UBIQUITOUS RO BOTS AND AMBEINT INTELLIGENCE UR AI 2008 pp 434 437 Human Robot interactio n using indicating beh avior for service robot Eri sato Shimokawara Shoichiro Sakurai Tor u Yamaguchi 2008 11 21 Proc of Int Conf on Ubiquitous Robots and Ambient Intelligence Human Tracking by Co operative Sensing of Di stributed Environment Sensors and Mobile Ro bots T Hasegawa K Moh r R Kurazume and K Murakami 2008 11 30 Y Vol 25 No 4 pp 238 251 eb 2008 12 2 Proc IEEE RAS RSJ I Selecting a Suitable
517. itRTO 5 ESA reacts er e DO uama aa auqa anu aa RE 5 kons RC DNI 5 1 5 6 MarkerRecogRTC 5 We a 6 DOE M D 1 Dos H 7 M A CE 7 uc CENE E qS 7 IS MEME E S ESI huuu a UR RR aN UR ER uN ICTU 8 ur oc EE IE PET EUR 8 aa a aan aa aa baa tap Een 9 Doc guess PPR unupa asna Mte NCS 9 I MEE S 10 Al Dee bu a aT OR RID aa aaa on 10 35 2 Cu s m as 10 SNE RE 13 15 I EE 15 NEDO 3 6 2 3 7 9 8 4 1 4 2 4 3 4 4 4 4 1 4 4 2 4 4 8 4 5 4 5 1 4 5 2 4 5 3 4 6 4 6 1 4 6 2 4 7 4 8 5 1 5 2 5 8 5 4 5 4 1 5 4 2 5 4 8 5 5 5 5 1 5 5 2 5 5 8 5 6 5 6 1 5 6 2 u BX
518. ium SEATUC Symposium pp39 42 2011 2 M Azizi A Rahman Akira Yasuda Makoto Mizukawa MODEL BASED DESIGN FOR SERVICE 10 11 12 ROBOT SYSTEM DEVELOPMENT A PROPOSAL OF GENERAL DESIGN Proceedings of The 5th South East Asian Technical University Consortium SEATUC Symposium pp379 384 2011 2 Makoto Mizukawa Tsunehiko Fujita Yusuke Zama ROBOT TECHNOLOGY RT MIDDLEWARE EXPANSION TO EMBEDDED SYSTEMS AND NATIVE BUSES Proceedings of The 5th South East Asian Technical University Consortium SEATUC Symposium pp375 378 2011 2 Eijiro Takeuchi Masashi Yamazaki Kazunori Ohno Satoshi Tadokoro GPS Measurement Model with Satellite Visibility using 3D Map for Particle Filter 2011 IEEE International Conference on Robotics and Biomimetics ROBIO2011 2011 Tae Hyon Kim Kiyohiro Goto Hiroki Igarashi Kazuyuki Kon Noritaka Sato and Fumitoshi Matsuno Path planning of an autonomous mobile robot considering region with velocity constraint in real environment Proc of The Sixteenth International Symposium on Artificial Life and Robotics 2011 AROB 16th 11 pp 842 845 Beppu Jan Japan Noritaka Sato Kazuyuki Kon and Fumitoshi Matsuno Navigation Interface for Multiple Autonomous Mobile Robots with Grouping Function Proc of The eighth IEEE Int Workshop on Safety Security and Rescue Robotics SSRR2011 Nov 2011 Hayato Shin Kazuyuki Kon Hiroki Igarashi Yuichi Anbe TaeHyon Kim Sohei Hanamoto Ryuta Yamasaki Satoshi To
519. kio Noda Haruhisa Okuda NODA Akio TANAKA Kenichi OKUDA Haruhisa NAGATANI Tatsuya KITAAKI Yasuo DOMAE Yukiyasu 2010 International INTELLIGENT ROBOT DOBASHI Hiroki 49 22 7 12 HRS TECHNOLOGIES FOR YOKOKOHJI Yasuyoshi LL CELL PRODUCTION KURONO Kohei SYSTEM HORIGUCHI Yukio NAKANISHI Hiroaki SAWARAGI Tetsuo ISOMURA Keisuke UTSUNO Hideo MATSUHISA Hiroshi KAZAMA Shin ichi KOHDA Takehisa I Acceleration and Hideo tatto International congress Deceleration Pattern to Keisuke Isomura 50 22 7 20 on sound and Suppress Resi
520. l left true VclMoveLinearAbs 2000 0 250 0 10 0 VclMoveLinearAbs 2300 0 250 0 10 0 kitTalk true LumbarmoveCooperati ve 25 0 10 0 10 0 false if object pos 3 gt 0 double carPos new double 6 carPos 0 480 546 carPos 1 25 071 carPos 2 40 558 carPos 3 160 0 carPos 4 25 958 carPos 5 40 511 ArmMoveLinearAbs carPos 25 848 right true double carPos new double 6 carPos 0 520 546 carPos 1 25 071 carPos 2 50 558 carPos 3 160 0 carPos 4 15 958 carPos 5 40 511 ArmMoveLinearAbs carPos 25 848 right true sdIEngine local_ports rightarmService_Middle openGripper SleepTime 4000 LumbarmoveCooperative 0 0 10 0 10 0 false reqDbI_ 0 19 68 1 43 25 reqDbl 2 5 29 reqDbI_ 3 109 740 reqDbl_ 4 40 94 reqDbI_ 5 0 28 reqDbI_ 6 10 12 movePTPJointAbs reqDbl_ right false sdlEngine local ports rightarmService Middle closeGripper O while armisMoving right f SleepTime 200 NEDO redqDbl 0 r
521. leService stopO sdlEngine local ports vehicleService setPower true SleepTime 1000 NEDO sdIEngine local_ports vehicleService setServo true if handlesI rightarmService0 rtc null sdlEngine local ports rightarmService Common sdlEngine local ports rightarmService Common sdlEngine local ports rightarmService Middle sdlEngine local ports rightarmService Middle sdlEngine local ports rightarmService Middle sdlEngine local ports rightarmService Middle double maxSpeedJoint new double 7 maxSpeedJoint 0 25 0 maxSpeedJoint 1 25 0 maxSpeedJoint 2 25 0 maxSpeedJoint 3 25 0 maxSpeedJoint 4 25 0 maxSpeedJoint 5 25 0 maxSpeedJoint 6 25 0 servoONO clearAlarms setAccelTimeCartesian 0 5 setAccelTimeJoint 0 5 setSpeedCartesian 100 setSpeedJoint 100 sdlEngine local ports rightarmService Middle setMaxSpeedJoint maxSpeedJoint CartesianSpeed cartesianSpeed new CartesianSpeedO cartesianSpeed translation 60 0 cartesianSpeed rotation 20 0 sdlEngine local ports rightarmService Middle setMaxSpeedCartesian cartesianSpeed if handles leftarmServiceO null sdlEngine local ports l
522. lization port lt lt ServiceConsumer RelativeMapService DataInPort float map DataInPort tracking people Ed 3 26 PathPlannerV2Comp 3 132 PathPlannerV2Comp RTC OS WindowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 OpenCV2 1 10Hz 2 1 0 0 10 101 NEDO 3 16 2 PathPlannerV2Comp 3 133 PathPlannerV2Comp No 1 onInitialize 2 onActivated motion set 3 onExecute
523. lkingWords boolean wait if handles PortAudioOutputO rtc null while SubTalkstartFlag SleepTime 200 print TalkingWords 0penJTalk sdlEngine local ports SDLEngineO text out put TalkingWords if wait SleepTime 1500 while SubTalkstartFlag NEDO SleepTime 200 VclMoveLinearRel double x double y double alpha int moveresult 0 Position position new Position position x x position y y position theta alpha moveresult VclMoveLinearRel position return moveresult VclMoveLinearRel Position position f int moveresult 0 Velocity vel new Velocity vel translation 120 0 vel rotation 23 0 sdlEngine local ports vehicleService setVelocity vel vel translation 100 0 vel rotation 18 0 sdlEngine local ports vehicleService setAcceleration vel sdIEngine local_ports vehicleService moveLinearRel position return moveresult VclMoveEndWait org omg CORBA ShortHolder statusHolder new org omg CORBA ShortHolder O org omg CORBA StringHolder msgHolder new org omg
524. lt gt gt 6 1 14 PathPlannerV2Comp No 1 WARN danger COLLISION 2 WARN Dilation2 Something wrong Possibility of collision 3 INFO PathPlanner onInitialize 4 INFO Run Frequency lt lt gt gt 5 INFO Robot is here x lt lt gt gt y lt lt gt gt direction lt lt gt 6 INFO path predict x lt lt gt gt y lt lt gt gt theta lt lt gt gt 7 INFO onExecute Start step gt gt onExecute call period t lt lt gt gt sec 8 INFO Get a local map state time lt lt msec 9 INFO PathPlanner lt lt gt gt 10 INFO Connected to PeopleBot PeopleBot 11 INFO Number of motion set lt lt gt gt 12 INFO Goal Position x lt lt gt gt y lt lt gt gt
525. ment starts 43 INFO Sensor ON 44 INFO Sensor OFF 45 Parameters for mesurement reset 46 INFO Service resetSensor 47 INFO Service getLatestData 48 INFO Service getLatestData exit 49 INFO Service getStatus 50 INFO Service getStatus exit 51 INFO SerialPort Connected to lt lt gt gt 52 INFO SerialPort Disconnected
526. n Da ional Symposiu ily Life Environment Using m on Quality o d Mounted 3D Multi Sensor f Life Technol ogy 2009 9 16 27 fi 3E JE 2009 9 16 27 5 5 Sg SE i 2009 9 16 27 3 diim 5
527. nAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown NEDO 3 7 3 1 PeopleTrackingV2Comp d 3 68 No 1 RobotOdometry IIS TimedPose2D corba_cdr 2 RobotVelocity IIS TimedVelocity corba_cdr 2D b PeopleTrackingV2Comp 3 69 No 5H 1 TrackingPeople MREC TimedPeop corba_cdr leTrackingData 2 Trackinglmage TUT TimedImage corba Data 2 PeopleTracking
528. ndowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 OpenCV2 1 CGAL 3 7 10Hz 1 0 0 0 NEDO 3 15 2 EnvironmentSimulatorComp 3 123 EnvironmentSimulatorComp 7 No 1 onInitialize 2 onActivated 3 onExecute
529. nect env handles SDLEngineO rtc ports SDLEngineO text in env handles Jul iusRTCO rtc ports Jul iusRTCO result if handles PortAudiolnputO rtc null env handles PortAudiolnputO deactivateO env disconnect env handles PortAudiolnputO rtc ports PortAudiolnputO AudioDataOut env handles Jul iusRTCO rtc ports Jul iusRTCO data if handles OpenJTalkRTCO rtc null env handles OpenJTalkRTCO rtc deactivate env disconnect env handles SDLEngineO rtc ports SDLEngineO text out env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO text env disconnect env handles SDLEngineO rtc ports SDLEngineO status env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO status if handles PortAudioOutputO null env handles PortAudioOutputO rtc deactivate O env disconnect env handles PortAudioOutputO ports PortAudioOutputO AudioDataln env handles OpenJTalkRTCO rtc ports OpenJTalkRTCO result 3 7 1 SDLEngine omniNames bat rtc conf
530. null env disconnect env handles VehicleServiceProviderO ports VehicleServiceProviderO VehicleServicePr ovider env handles SDLEngineO rtc ports SDLEngineO VehicleServiceConsumer env handles VehicleServiceProviderO deactivateO if handles UnitEmuAdapterO rtc null env handles Uni tEmuAdapterO rtc deactivate env disconnect env handles Uni tEmuAdapterO rtc ports transfseqo env handles Uni tEmuControl lerO rtc ports UnitEmuControl lerO transfsegi env disconnect env handles Uni tEmuAdapterO ports valueseqo env handles Uni tEmuControl lerO rtc ports Uni tEmuControl lerO valueseqi if handles rightarmServiceO null env handles rightarmServiceO rtc deactivateO env disconnect env handles rightarmServiceO rtc ports rightarmServiceO rightarmService env handles SDLEngineO rtc ports SDLEngineO RightArmServiceConsumer env disconnect env handles rightarmServiceO rtc ports rightarmService0 ManipulatorCommonInterface Com monProv ider env handles SDLEngineO rtc ports SDLEngineO Ri ghtCommonServ ceConsumer env disconnect env handles r ightarmService0 rtc ports rightarmServiceO ManipulatorCommonInterface Mid dleProvider env handles SDLEngineO rtc ports SDLEngineO RightMiddleServiceConsumer
531. o Hara AIST Fumio Kanehiro AIST OpenRT Platform An Open Software Platform for Robotics Technology ICRA 2009 Workshop on Open Source Software in Robotics Kobe 2009 05 32 Natsuki Yamanobe AIST Ee Sian Neo AIST Eiichi Yoshida AIST Nobuyuki Kita AIST Kazuyuki Nagata AIST Kazuhito Yokoi AIST and Yosuke Takano NEC integration of Manipulation Locomotion and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform Journal of Robotics and Mechatronics Vol 22 No 3 2010 06 20 33 EKR W OpenRT Platform OpenHRP 9 1 27 2009 09 34 OpenRT Platform OpenRTM 27 2009 09 35 OpenRT Platform 27
532. ods of TakemuraHiros Systems Man and Cybernetics Robust Detecting and Tracking hi Mizoguchi SMC2010 with Color Camera under Illumination Changes 2010 12 23 25 H 11 SICE 512010 psp gr jt SEES wh x sm 2010 12 23 25 11 SICE SI2010 LRF su 2011 5 26 28 2011 ROBOMEC2011 HLAC HOG 4 2011 5 26 28 2011 ROBOMEC2011 HLAC in WT HH 2011 5 26 28
533. on 1 NEDO MWATAYTATEO 5 4 2 5 2 5 2 No 1 OS Windows WindowsXP Windows 2 Java Developer 1 6 0 23 http java sun com javase ja 6 download html Kit JDK 32bit Python 2 6 4 http www python jp VisualC 2008 http www microsoft com japan msdn vstudio Express Edition 2008 product express OpenRTIM aist 1 1 0 RC2 http www openrtm org openrtm ja 3 Python 1 0 0 RELEASE C 1 0 0 RELEASE Java 4 OpenRTM Eclipse 1 0 0 RELEASE RTCBuilder tools RTSystemEditor Eclipse RTC Apache Ant 1 8 2 http ant apache org SDLEngine ANT_HOME PATH ANT_HOME bin OpenHRP3 3 1 1 http www openrtp jp op
534. orba_cdr 2 a GlobalPathPlanner b GlobalPathPlanner X 3 159 No j ArealInfoService AreaInfoService TUT AreaInfoService RF 3 160 TUT ArealnfoService F No 1 getAreaInfo TUT TimedAreaInfo 119 NEDO 3 GlobalPathPlanner 3 161
535. pLoaderComp No onInitialize onActivated onExecute onDeactivated onAborting onReset onError onFinalize oloja laja jv w onStateUpdate mn onRateChanged onStartup onShutdown NEDO 3 10 3 1 SimpleGlobalMapLoaderComp 2 SimpleGlobalMapLoaderComp 3 88 No ALPES S TAA 1 AbsoluteMapServi AbsoluteMapServi MRFC AbsoluteMapServ ce ce ice 3 89 MRFC AbsoluteMapService I F
536. predict and to update Global Map 8 INFO Start to calculate Likelihoods 9 INFO Finish to calculate Likelihoods 10 INFO Start resampling process 11 INFO Finish resampling process 141 NEDO 12 INFO Finish one sycle processing 1 13 INFO Output Estimated Robot Pose lt lt gt gt lt lt gt gt lt lt gt gt 14 INFO Input LRF Data LRF 15 INEO The end of Localization 16 INFO Total Execution Time lt lt gt gt s 17 INFO Required Time per cycle 1 Average lt lt gt gt ms cycle Maximum lt lt gt gt msl Minimum lt lt gt gt msj 6 1 8 H H HH
537. ptedException e e printStackTrace kitTalk String TalkingWords if handles PortAudioOutputO null kitTalk TalkingWords true kitTalk String TalkingWords boolean wait if handles PortAudioOutputO null while SubTalkstartFlag SleepTime 200 print TalkingWords 0penJTalk sdlEngine local ports SDLEngineO text out put TalkingWords if wait SleepTime 1500 while SubTalkstartFlag SleepTime 200 NEDO DEISEN SubvoiceChk String sentence String voicedata String sentencearray sentence split gt lt String chkword rank Y 1y
538. r1 2 http openrtm org openrtm Ja project openhri Ver1 2 FALE JV ft Ver1 2 Ver1 2 http www openrtm org openrtm Ja project NEDO In telligent 10398 http www openrtm org openrtm Ja project NEDO In telligent 10389 x http www openrtm org openrtm ja project NEDO In telligent ID399 http openrtm org openrtm ja project NEDO_Intelhigent_PRJ_ID240 http openrtm org openrtm ja project NEDO Intelligent 10235 httpi www sd tmu ac jp yamaguchi NEDO project ht Au E T 55 http www sd tmu ac jp yamaguchi NEDO project ht ml
539. rRangeSensor idl TimedMeasuredData 7 2 29 tm 1msec f 24bit NEDO data startPosition startPosition degree 1 4 2 1 endPosition 1 4 2 1 degree JE scanInterval Z 3 1
540. s 150 s 15cm 5cm 11 g 8h 8 2 4h KREN Er 5 1 5 12V 2 5A 12 7 2 O mh X8 X X32 X8 X7 x3 duy SS 2m 3m NEDO 4 Pioneer 3 DX Pionner 3 DX MobileRobots 2 Pionner 3 DX 2 8 2 8 Pioneer 3 DX
541. sec 23 INFO Total computation time msec 24 INFO An average computation time of the loop lt lt gt gt msec 25 INFO The maximum computation time lt lt gt gt msec 6 1 15 MobileRobotsControllerComp No gb dx 1 ERROR Syncing lt lt gt gt No packet 2 ERROR Could not connect no robot Responding 3 ERROR Failed to connect to robot 4 ERROR Failed to connect PPP SU 5 ERROR asyncConnect failed because robot is not running in its own thread 6 WARN Robot may be connected but not open trying to dislodge 7 WARN Trying to close possible old Connection 8 INFO COM lt lt gt gt COM 6 1 16 HJ gt tE H pi vu Ls 6 1 17
542. ssociation for Co er with an Anaphora itajima and Tsutomu mputational Linguistics Resolution Process Endo PACLING2009 pp 2 62 267 2009 2009 9 15 27 E CD ROM 1 D3 05 2009 9 15 27 CD ROM 1 D3 06 e 2009 9 15 27 1D3 01 2009 9 15 27 CERES 1D3 04
543. string K 3 41 SensorRTC LaserRangeSensor id1 TimedStatus tm 1msec 24bit data startPosition deg endPosition deg TME datalnterval1 minDistance mm maxDistance mm dstanceNum Nom 3 1 3 1 NEDO Top URG
544. t 1 0 NEDO 1 0 1 2 NEDO 1 EE PR o o ho NOE RE ERE EE EE ua MR 1 1 2 np ULP RON NOR NORTON 1 1 39 Lo r a MEET ccm 1 1922 D c Nn 1 WC WE a e E IE 2 2 RR RR 2 49v JSI e m um adus Gud am diu uu rotam m ah 3 du CX pu D SUD 1 5 1 OpenHRI 5 15 2 SDLEngine 5 1 5 8 RTC VehicleUn
545. t Hiroyuki NAKAMOTO SEO Software Deployment Infrastructure for Component Based RT Systems Journal of Robotics and Mechatronics Vol 23 No 3 pp 350 359 2011 06 67 Geoffrey Biggs AIST Noriaki Ando AIST Tetsuo Kotoku AIST Open source software in the RTMiddleware project H ni H zm In Proceedings of The 29th annual conference of the Robotics Society of Japan September 2011 68 Geoffrey Biggs AIST Noriaki Ando AIST Tetsuo Kotoku AIST Rapid data processing pipeline development using OpenRTM aist In Proceedings of the 2011 IEEE SICE International Symposium on System Integration December 2011 69 S Nakaoka AIST Choreonoid as a Software Framework for Implementing Graphical Robotics Applications The 29th Annual Conference of the Robotics Society of Japan International Session Advances in Open source Robotics Tools 2Q1 2 September 2011 70 Z PRZE gt Z WRH Z7 27 OpenRT Platform Android 77 gt F7
546. tLatestData SensorRTC LaserRangeSens or idl TimedMeasuredData LRSServiceException LRS NEDO No 3 getStatus SensorRTC LaserRangeSens or idl TimedStatus LRSServiceException LRS 4 setPositions boolean float degl float degl LRSServiceException LRS 5 setScanInterval Boolean Setropkt Tek long LRSServiceException LRS 6 setDataGroupingN ad boolean SEG ORCI UR long LRSServiceException LRS
547. ta lt lt DataOutPort gt gt stereo data d 3 3 Bumblebee2ModuleComp 3 44 Bumblebee2ModuleComp RTC OS WindowsXP Pro SP3 IN ze Y Open rtm aist 1 0 0 C Visual studio 2008 NEDO OpenCV 2 2 FlyCapturel 7 Triclops3 2 Intel TBB 4 0 20Hz 1 0 0 10 3 82 Bumblebee2ModuleComp 3 45 Bumblebee2ModuleComp No 1 onInitialize 2 onActivated 3 onExecute 4 onDeactivated 5 onAborting 6 onReset 7 onError 8 onFinalize
548. ted pendulum mobile robot for outdoor environment Proc SICE Annual Conference 2008 pp 2282 2285 August 2008 Kazuyuki Kon Hiroaki Fukushima and Fumitoshi Matsuno Trajectory Generation based on Model Predictive Control with Obstacle Avoidance between Prediction Time Steps SYROCO F3B3 September 2009 E Takeuchi K Ohno and S Tadokoro Autonomous Navigation in Crowded Environments over the Seasons using Free space Observation Model of Laser Scanner The 7th International Conferenceon Ubiquitous Robots and Ambient Intelligence URAI 2010 2010 11 E Takeuchi K Ohno and S Tadokoro Robust Localization Method based on Free space Observation Model using 3D Map 2010 IEEE International Conference on Robotics and Biomimetics ROBIO2010 2010 12 Kiyohiro Goto Kazukuki Kon and Fumitoshi Matsuno Motion Planning of an Autonomous Mobile Robot Considering Regions with Velocity Constraint Proc IEEE RSJ International Conference on Intelligent Robots and Systems IROS2010 Taipei pp 3269 3274 2010 Noritaka Sato Takahiro Inagaki and Fumitoshi Matsuno Teleoperation System Using Past Image Records Considering Moving Objects Proc of The eighth IEEE Int Workshop on Safety Security and Rescue Robotics SSRR2010 July 2010 M Azizi A Rahman Akira Yasuda Makoto Mizukawa MODEL BASED DESIGN FOR SERVICE ROBOT SYSTEM DEVELOPMENT A CONTRIBUTION TO SOCIETY Intensive Workshop of The 5th South East Asian Technical University Consort
549. tereoImageViewerComp 3 54 StereolmageViewerComp No 1 onInitialize 2 onActivated 3 onExecute 4 onDeactivated 5 onAborting 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown NEDO 3 5 3 1 StereolmageViewerComp d 3 55 No AU A A A 1 stereo TUT TimedStereoData corba b StereoImageViewerComp
550. tivated 5 onAborting 2 6 onReset 7 onError 8 onFinalize 9 onStateUpdate 10 onRateChanged 11 onStartup 12 onShutdown NEDO 343 1 ShowlImageComp 351 No 1 Image TUT TimedImageData corba cdr b ShowImageComp 2 ShowImageComp 3 ShowImageComp 4 ShowImageComp a d 3 52 No 1
551. w python org7download releases 2 6 4 NEDO Zi wi Sz gi NR http www python org ftp python 2 6 4 python 2 6 4 msi c OpenRTM aist Java 1 0 0 RELEASE 87 URL 3 7 OpenRTM aist Java 1 0 0 RELEASE URL EC Y pg NR http www openrtm org openrtm ja node 933 Zi wi Sz ev IS seu http www openrtm org pub Windows OpenRTM aist java OpenRTM aist Java 1 0 0 msi d OpenRTM aist C 1 0 0 RELEASE Xx 3 8 URL 3 8 OpenRTM aist C 1 0 0 RELEASE URL 269 2 gie Bes http www openrtm org openrtm ja node 849 ZI Sz gu SEE http www openrtm org pub Windows OpenRTM aist cxx OpenRTM a ist 1 0 0 RELEASE v
552. ware Platform 25 A E fi Easy Development of 2010 IEEE RSJ 2010 Communicative Behaviors in Social International Conference Robots on Intelligent Robots and Systems Conference DVD Proceedings IROS 2010 5302 5309 26 GLAS Dylan amp E t amp amp An Interaction Design Framework ROBOTICS SCIENCE 2011 Fairchild for Social Robots AND SYSTEMS ONLINE PROCEEDINGS Robotics Science and Systems VII 2 PCT 1 HERR 2009 3 4 2009 050127 2 2009 3 4 2009 050431 3 BIER SE 2009 3 17 2009 064131 2009 071586 2009
553. www oracle com technetwork java javasebusiness downloads jav a archive downloads java client 419417 htmlZjava3d 1 4 0 01 oth JP R gy gr B a ae java3d 1 4 0_01 windows i586 exe d OpenHRP3 K 4 6 URL K p OpenHRP3 Package 1 2 0 zip OpenHRP3 1 0 8 4 install cmd 4 6 OpenHRP3 URL Erw See Bus http www openrtp jp openhrp3 jp download html all in one E http www openrtp jp openhrp3 download Package 1 2 0 zip 2 OpenHRP3 K 4 7 URL OpenHRP3 C X 4 7 OpenHRP3 URL gU gie Bess http www sec co jp robot download rtc html
554. y2PosesSenderComp K 3 163 Dummy2PosesSenderComp RTC OS WindowsXP Pro SP3 RT Open rtm aist 1 0 0 C Visual studio 2008 B 4Hz N 1 0 0 0 121 NEDO 3 21 2 Dummy2PosesSenderComp 3 164 Dummy2PosesSenderComp No 1 onInitialize 2 onActivated 3 onExecute continuous output 0
555. yoshima Noritaka Sato Tetsushi Kamegawa and Fumitoshi Matsuno Hardware Software Integration of a Practical Mobile Robot Platform 2011 IEEE SICE International Symposium on System Integration F4 1 2011 3 1 NEDO 40 44 195 2010 07 TRONWARE Vol 126 pp 56 57 2010 EA 2 BH 2009 RTC Vol 28 No 5 pp 33 34 2010 195 55 2010
556. ypepad jp news 2009705 20090527 5922 html 2009 5 27 e OpenRT v0 1 http robonable typepad jp news 2009 05 20090529 openrt html 2009 5 29 Impress Robot Watch iREX2009 NEDO 10 http robot watch impress co jp docs news 20091126 331537 html 2009 11 26 http ww w aist go jp aist j press release pr2010 pr20101016 pr20101016 html 2010 10 16 e RT http www robonable jp news 2011 09 sec 0928 html 2011 09 28 e

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