モーションデータベースのための多自由度動作のモデル化

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/07/01

タイトル(英語): Modeling of Multi-Degree-of-Freedom Motions for Motion Database

著者名: 大西　祥裕（慶應義塾大学理工学部システムデザイン工学科），桂　誠一郎（慶應義塾大学理工学部システムデザイン工学科）

著者名(英語): Yoshihiro Ohnishi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: モーションデータベース，隠れマルコフモデル，バイラテラル制御，実世界ハプティクス，モーションコントロール　　motion database，hidden Markov model，bilateral control，real-world haptics，motion control

要約(英語): Recently, the aging of worker and craftsmen is becoming a great issue because of low birthrate and longevity. Further, importing the knowledge of craftsmen to future generations is considered to be important. However, it is difficult to import such knowledge to many people at once. The "motion database" that realizes recording, searching, and reproduction of human motions is considered to be effective in overcoming this problem. In order to construct the motion database, modeling of human motions is needed. In this research, human motions are modeled the basis of a hidden Markov model, and a searching method based on the model is proposed. By using the modeling, it becomes possible to search for a motion in the motion database. This motion database can be applied for skill acquisition.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.7 （2012）

本誌掲載ページ: 747-754 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/7/132_747/_article/-char/ja/