Presentation 2008-06-03
A Reviewing System of Autonomous Humanoid Behavior Experiment with Mixed Reality
Kazuhiko Kobayashi, Koichi Nishiwaki, Shinji Uchiyama, Hiroyuki Yamamoto, Satoshi Kagami,
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Abstract(in English) We propose a review system to verification of actual machine behavior in the actual environment. The system is based on Mixed Reality technology for viewing and reviewing of internal parameters computed by the humanoids against the actual environment. In the environment, the parameters snapped on each sampling time are treated as data streams, and stored to the distributed log servers in real time. 3-D graphical representation of the parameters helps us to observe plural multi-dimensional parameters. A video see-through head mounted display is used for viewing the representation. The stored parameters can be projected on the current actual scene from arbitrary viewpoints. By the viewing and reviewing functions, the Mixed Reality environment becomes a powerful tool for the autonomous behavior developer in order to debug the actual behavior by contrast with the actual environment. This paper describes the implementation of the system with a full size humanoid, HRP-2, and shows some experimental examples.
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Keyword(in English) Mixed reality / humanoid / distributed logging and review system
Paper # MVE2008-17
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Committee MVE
Conference Date 2008/5/26(1days)
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Registration To Media Experience and Virtual Environment (MVE)
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) A Reviewing System of Autonomous Humanoid Behavior Experiment with Mixed Reality
Sub Title (in English)
Keyword(1) Mixed reality
Keyword(2) humanoid
Keyword(3) distributed logging and review system
1st Author's Name Kazuhiko Kobayashi
1st Author's Affiliation Canon Inc.()
2nd Author's Name Koichi Nishiwaki
2nd Author's Affiliation Digital Human Research Center, National Institute of Advanced Industrial Science and Technology
3rd Author's Name Shinji Uchiyama
3rd Author's Affiliation Canon Inc.
4th Author's Name Hiroyuki Yamamoto
4th Author's Affiliation Canon Inc.
5th Author's Name Satoshi Kagami
5th Author's Affiliation Digital Human Research Center, National Institute of Advanced Industrial Science and Technology
Date 2008-06-03
Paper # MVE2008-17
Volume (vol) vol.108
Number (no) 77
Page pp.pp.-
#Pages 6
Date of Issue