Summary of Research Project Results Under the JSPS FY2000
"Research for the future Program"



1.Research Institution Science University of Tokyo
 
2.Research Area Physical and Engineering Sciences
 
3.Research Field Micro-mechatronics and Soft-mechanics
 
4.Term of Project FY1996〜FY2000
 
5.Project Number 96P00803
 
6.Title of Project Study on Soft-mechanics and Function Creation in Morpho-functional Machines

7.Projetct Leader
Name Institution,Department Title of Position
Fumio Hara Science University of Tokyo, Department of Engineering Professor

8.Core Members

Names Institution,Department Title of Position
Yuji Nakasone Science University of Tokyo, Department of Engineering Professor
Yukinori Kakazu Hokkaido University, Department of Engineering Professor
Hiroshi Yokoi Hokkaido University, Department of engineering Assoc. Professor

9.Cooperating Researchers

Names Institution,Department Title of Position
H.Kobayashi Science University of Tokyo, Department of Engineering Assoc. Professor
R.Pfeifer University of Zurich Professor
M.Wada Hokkaido University, Department of Engineering Professor

10.Summary of Research Results

Integrating the research results obtained by the subgroup organized in the Science University of Tokyo in the course of 5 years activities, one task group has been organized for developing the design principles of morpo-functional machines. The international workshop on morpho-functional machines was held from 5th to 7th March, 2001 and the outcome of the workshop will be published as a technical book from Springer Verlag (Tokyo) in October, 2001
1) 3D FEM analysis of large deformation in facial expressions was done successfully. By integrating elastic/visco-elastic model of facial muscles with ABAQUAS software to analyze a large deformation of human face skin, we have succeeded in generating 6 typical facial expressions on CG face, i.e., anger, surprise, fear, disgust, sad and happy faces. The wrinkle model has been developed and proved by experiments.
2) The face robot of almost same size as that human face has been developed by using 19 small SMA actuators and a DC motor. The face robot can produce realistic facial expressions of anger, surprise, fear, disgust, sad and happy. Their Kansei quality was evaluated and was found enough high for application. Real-time automatic recognition of facial expressions was developed. The group of touch-sensors fixed on a single soft finger robotic system showed a good possibility to recognize the shape and softness of the objects.
3) The characteristics of intelligence acquired by STL learning algorithm clarified the importance of morphology of robotic body, sensor and actuator allocation by simulation and experiment for the 2-mibile robotic system carrying a long bar along a wavy road, multi-robotic system expanding communication network and a linear cluster robotic systems recognizing objects and performing the task of enclosing objects of different shapes.
4) SMA net-type robotic systems, a star-fish like robotic system have been developed and the intelligence of the robots to locomote on a flat plate has been successfully acquired by Q-learning algorithm. Furthermore a linear cluster robotic system consisting of 5 cylindrical modules implemented with solar cell sensors has been developed and its intelligence is acquired by Q-learning process. Then, mercury drops driven electromagnetic field controlled by outer demand were easily control their locomotion on the magnetic field plate.
5) The measure to evaluate the softness of morphology and function in morpho-functional machines has been developed and its usefulness is demonstrated by using the robotic systems developed. Finally we have qualitatively formulated the design principles of morpho-functional machines from the view point of ecological balance of morphology, materials and control.

11.Key Words

(1)Soft-mechanics、(2)Amoeba-like robots、(3)Cluster robots
(4)Face robot、(5)Super redundant DOF、(6)Soft actuator
(7)Soft materials、(8)morphology、(9)Learning

12.References

[Reference Articles]
Author Title of Article
F.Hara, H.Kobayashi An animate Face Robot : Its Component Technology Development for Interactive Communication with Humans
Journal Volume Year Pages Concerned
Proc. Interface to Real & Virtual Worlds   1996 pp.229-241

Author Title of Article
H.Kobayashi, F.Hara Analysis of the Neural Network recognition Characteristics of 6 Basic Facial Expressions
Journal Volume Year Pages Concerned
JSME Int. Jour. Vol.39 No.2 1996 pp323-331

Author Title of Article
H.Kobayashi, F.Hara Real Time Dynamic Control of 6 Basic facial Expression on Face Robot
Journal Volume Year Pages Concerned
Jour. Robotics Society of Japan Vol.14 No.5 1996 pp.677-685

Author Title of Article
H.Kobayashi, A.Tange, and F.Hara Real-time Recognition of 6 Basic Facial Expressions
Journal Volume Year Pages Concerned
Jour. Robotics Society of Japan Vol.14 No.7 1996 pp.994-1002

Author Title of Article
S.Ichikawa, F.Hara Experimental Characteristics of Multiple-Robots Behaviors in Communication Network Expansion and Object-fetching
Journal Volume Year Pages Concerned
Distributed Autonomous Robotic Systems No.2 1996 pp.183-194

Author Title of Article
F.Hara, H.Kobayashi Real-time Facial Interaction between human and 3D Face Robot Agent
Journal Volume Year Pages Concerned
Proc. RO-MAN'96 (IEEE Workshop)   1996 pp.401-409

Author Title of Article
F.Hara, H.Kobayashi A Face Robot Able to Recognize and Produce Facial Expression
Journal Volume Year Pages Concerned
Proc. IROS'96 Vol.3 1996 pp.1600-1607

Author Title of Article
K.Sasajima, F.Hara A Singular Point Analysis of the Locus for Two Mobile Robots along a Sinusoidal Surface Road
Journal Volume Year Pages Concerned
Jour. Robotics Society of Japan Vol.13 No.1 1997 pp.124-130

Author Title of Article
K.Kikuchi, F.Hara Simultaneous Optimization of Configuration and Assembly Process of Bridge Structure using a Genetic Algorithm
Journal Volume Year Pages Concerned
Trans. JSME Vol.63 No.608C 1997 pp.121-128

Author Title of Article
F.Hara Expression for Human-Artifacts Communication
Journal Volume Year Pages Concerned
Proc. of JSME Int. Symp. on System Life   1997 pp.1-10

Author Title of Article
K.Kikuchi, F.Hara A Study of the Evolutionary Design Method of Structure Adapting to the Environment
Journal Volume Year Pages Concerned
Trans. JSME Vol.63 No.613C 1997 pp.64-71

Author Title of Article
F.Hara Adding Emotional Factors to Synthesized Voices
Journal Volume Year Pages Concerned
Proc. RO-MAN'97 (IEEE Workshop)   1997 pp.344-351

Author Title of Article
F.Hara, K.Tanaka, H.Kobayashi, and A.Tange Automatic Feature Extraction of Facial Organs and Contour
Journal Volume Year Pages Concerned
Proc. RO-MAN'97 (IEEE Workshop)   1997 pp.386-391

Author Title of Article
F.Hara, K.Endoh, and S.Shirata Lip-Configuration Control of a Mouth Robot for Japanese Vowels
Journal Volume Year Pages Concerned
Proc. RO-MAN'97 (IEEE Workshop)   1997 pp.412-418

Author Title of Article
H.Kobayashi, F.Hara Facial Interaction between Animated 3D Face Robot and Human Beings
Journal Volume Year Pages Concerned
IEEE Int. Conf. Proc. SMC'97 Vol.4 1997 pp.3732-3737

Author Title of Article
F.Hara, H.Kobayashi State-of-the Art in Component Technology for an Animated Faced Robot-Its Component technology Development for Interactive Communication with Humans
Journal Volume Year Pages Concerned
The Int. Jour. of the Robotics Society of Japan Advanced Robotics Vol.11 No.6 1997 pp.585-604

Author Title of Article
N.Kawai Formation of Morphology and Morpho-Function in a Linear-Cluster Robotic System
Journal Volume Year Pages Concerned
Proc. 5th Int. Conf. on Simulation of Adaptive Behavior (From animals to Animats)   1998 pp.459-464

Author Title of Article
K.Kikuchi, F.Hara Evolutionary Design of Morphology and Intelligence in Robotic System Using Genetic Programming
Journal Volume Year Pages Concerned
Proc. 5th Int. Conf. on Simulation of Adaptive Behavior (From animals to Animats)   1998 pp.540-545

Author Title of Article
S.Ichikawa, F.Hara Experimental Characteristics of Multi-Robot Behaviors in Communication Network Expansion and Returning Behaviors
Journal Volume Year Pages Concerned
Trans. JSME Vol.64 No.625C 1998 pp.3464-3471

Author Title of Article
F.Hara, K.Endoh Dynamic Control of Lip-Configuration of a Mouth Robot for Japanese Vowels
Journal Volume Year Pages Concerned
Proc. RO-MAN'98 (IEEE Workshop)   1998 pp.735-742

Author Title of Article
Y.Nakasone, K.Fujita, and F.Hara Mechanistic Simulation of Human Facial Expressions
Journal Volume Year Pages Concerned
Proc. RO-MAN'98 (IEEE Workshop)   1998 pp.469-474

Author Title of Article
F.Iida, M.Tabata, and F.Hara Generating Personality Character in a Face Robot through Interaction with Human
Journal Volume Year Pages Concerned
Proc. RO-MAN'98 (IEEE Workshop)   1998 pp.481-486

Author Title of Article
F.Hara, K.Sasajima, and T.Sawada Morpho-Functional Characteristics of SSA-based Two-Mobile Robots System Carrying a Long Bar on Wavy Road
Journal Volume Year Pages Concerned
Proc. Int. Conf. on intelligent Robots Systems Vol.3 1998 pp.1411-1418

Author Title of Article
F.Hara, H.Kobayashi, and F.Iida An Interactive Face Robot Able to Create Virtual Communication with Human
Journal Volume Year Pages Concerned
Virtual Environments '98, Springer Computer Science   1998 pp.182-194

Author Title of Article
K.Kikuchi, F.Hara Evolutionary Design Method of Morphology and Intelligence in Autonomous Mechanical Systems
Journal Volume Year Pages Concerned
Trans. JSME Vol.65 No.631C 1999 pp.1045-1053

Author Title of Article
F.Iida, F.Hara, and H.Ayai Face robot Behavior Learning Based on the Characteristics of Human Instruction
Journal Volume Year Pages Concerned
Proc. 4th Robotics Symposia   1999 pp.38-43

Author Title of Article
Y.Nakasone, K.Fujita, and F.Hara Model of Human Facial Expressions
Journal Volume Year Pages Concerned
Computational Engineering Vol.4 No.3 1999 pp.133-137

Author Title of Article
T.Sawada, S.Ichikawa, and F.Hara Autonomous Action-Mode Change in On-line Learning of a Two-mobile Robotic System
Journal Volume Year Pages Concerned
Trans. JSME Vol.65 No.635C 1999 pp.2802-2809

Author Title of Article
F.Hara, K.Watanabe, and H.Ishigaki Computer-Aided Creation of Visual Impression on CG Face
Journal Volume Year Pages Concerned
Proc. RO-MAN'99 (IEEE Workshop)   1999 pp.159-164

Author Title of Article
F.Iida, H.Ayai, and F.Hara Behavior Learning of a Face Robot Using Human Natural Instruction
Journal Volume Year Pages Concerned
Proc. RO-MAN'99 (IEEE Workshop)   1999 pp.171-176

Author Title of Article
H.Kobayashi and S.Suzuki and H.Takahashi Automatic Extraction of Facial Organs and Recognition of Facial Expressions
Journal Volume Year Pages Concerned
Proceedings of IEEE International Workshop on Robot and Human Communication   1999 pp.165-170

Author Title of Article
H.Kobayashi, H.Akasawa, and F.Hara Study on New Face Robot Platform for Robot-Human Communication
Journal Volume Year Pages Concerned
Proc. RO-MAN'99 (IEEE Workshop)   1999 pp.242-247

Author Title of Article
K.Kikuchi, F.Hara Evolutionary Design Method of Morphology and Intelligence in Autonomous Mechanical System (2nd Report)
Journal Volume Year Pages Concerned
Trans. JSME Vol.65 No.638C 1999 pp.4032-4039

Author Title of Article
S.Ichikawa, F.Hara Characteristics of Object-Searching and Object-Fetching Behaviors of Multi-Robot System Using Local Communication
Journal Volume Year Pages Concerned
IEEE Int. Conf. Proc. SMC'99 Vol.4 1999 pp.775-781

Author Title of Article
T.Sawada, S.Ichikawa, and F.Hara Autonomous Action-Mode Change in a Two-Mobile Robotic System : S-Temperature Based On-Line Learning
Journal Volume Year Pages Concerned
EEE/RSJ, Int. Conf. Proc. IROS'99 Vol.1 1999 pp.393-399

Author Title of Article
T.Yokoyama, K.Tanaka, K.Hisatomi, Y.Yagi, M.Yachida, F.Hara, and S.Hashimoto Extracting Contours and Features from Frontal Face Images
Journal Volume Year Pages Concerned
Jour. Institute of Image Information and Television Engineers Vol.53 No.11 1999 pp.1605-1614

Author Title of Article
K.Kikuchi, F.Hara A Study on Evolutionary Design in Balancing Morphology and Intelligence of Robotic Systems
Journal Volume Year Pages Concerned
Jour. of Robotics and Mechatronics Vol.12 No.2 1999 pp.180-189

Author Title of Article
T.Sawada, S.Ichikawa, and F.Hara Structural Characteristics of Intelligence and Embodiment in Two-Mobile Robots System-Characteristics of Relationship between Intelligence and Size of Body, Locomotion-distance
Journal Volume Year Pages Concerned
Proc. 12th SICE Symposium of Autonomous Distributed Systems   2000 pp.475-480

Author Title of Article
F.Hara Human Communication by Face Robot
Journal Volume Year Pages Concerned
System/Control/Information, Jour. ISCIE Vol.44 No.3 2000 pp.142-150

Author Title of Article
F.Hara, K.Endoh Dynamic Control of Lip-Configuration of a Mouth Robot for Japanese Vowels
Journal Volume Year Pages Concerned
Elsevier Robotics and Autonomous Systems Vol.31 No.3 2000 pp.161-169

Author Title of Article
H.Kobayashi, S.Suzuki, H.Takahasi, A.Tange, K.Kikuchi Automatic Extraction of Face Organ Contour from Frontal Face Images
Journal Volume Year Pages Concerned
Trans. JSME Vol.66 No.648-C 2000 pp.2778-2783

Author Title of Article
F.Iida, F.Hara Behavior Learning Algorithm of a Face Robot using Human Natural Instruction
Journal Volume Year Pages Concerned
Jour. robotics Society of Japan Vol.18 No.6 2000 pp.839-846

Author Title of Article
F.Hara, R.Pfeifer On the Relation among Morphology, Material and Control in Morpho-functional Machines
Journal Volume Year Pages Concerned
Proc. 6th Int. Conf. on Simulation of Adaptive Behaviour   2000 pp.33-40

Author Title of Article
H.Kobayashi, T.Tsuji, and K.Kikuchi Study on Face Robot Platform as aKANSEI Medium
Journal Volume Year Pages Concerned
IEEE International Conference on Industrial Electronics, Control and Instrumentation   2000 pp.481-486

Author Title of Article
N.Kawai, F.Hara Simulation Analysis of Morphology Formation on Locomotion of a Linear Cluster Robotic System
Journal Volume Year Pages Concerned
Trans. JSME Vol.66 No.650-C 2000 pp.164-171

Author Title of Article
S.Ichikawa, F.Hara Effects of Static and Dynamic Variety in the Character of Robots on Group Intelligence of Multi-Robot System
Journal Volume Year Pages Concerned
Springer Distributed Autonomous Robotic Systems 4   2000 pp.90-98

Author Title of Article
T.Sawada, A.Sugai, S.Ichikawa, and F.Hara Structural Characteristics of Intelligence and Embodiment in Two-Mobile Robots System
Journal Volume Year Pages Concerned
Springer Distributed Autonomous Robotics Systems 4   2000 pp.457-466

Author Title of Article
K.Kikuchi, H.Kobayashi A Study on Functional Characteristics of Robotic System with Morphology and Intelligence
Journal Volume Year Pages Concerned
IEEE/RSJ International Conference on Intelligent Robots and Systems   2000 pp.733-738

Author Title of Article
Yukinori Kakazu On the application of Genetic Mechanism (Genetic Algorithms)
Journal Volume Year Pages Concerned
Handbook of Biomimetics   2000 140-147

Author Title of Article
Yukinori Kakazu Artificial Life Systems
Journal Volume Year Pages Concerned
Handbook of Biomimetics   2000 1090-1098

Author Title of Article
Hiroshi Yokoi Autonomous Adaptive EMG Prosthesis
Journal Volume Year Pages Concerned
Handbook of Biomimetics   2000 925-931

Author Title of Article
Hiroshi Yokoi Amoeba-like robots in the perspective of control architecture and morphology/materials
Journal Volume Year Pages Concerned
International Workshop on Morpho-functional Machines   2000 136-164

Author Title of Article
Hiroshi Yokoi Overview of Morpho-Functional Machine Project
Journal Volume Year Pages Concerned
Proceedings of The Fourth Japan-Australia Joint Workshop on Intelligent and Evolutionary Systems   2000 1

Author Title of Article
Wenwei Yu Learning of adaptive behaviors in an autonomous distributed swimming machine
Journal Volume Year Pages Concerned
International Workshop on Morpho-functional Machines   2000 194-221

Author Title of Article
Daisuke Iijima Behavioral Acquisition of Obstacle Avoidance for a Distributed Autonomous Swimming Robot
Journal Volume Year Pages Concerned
Journal of the Robotics Society of Japan 19 2000 85-95

Author Title of Article
Daisuke Iijima Obstacle Avoidance for a Distributed Autonomous Swimming Robot by Interaction-Based Learning
Journal Volume Year Pages Concerned
From Animals to Animats 6 2000 297-306

Author Title of Article
Takashi Ishida Emergence of Norms of Behavior in a Competitive Social Model
Journal Volume Year Pages Concerned
journals of Japanese Society for Artificial Intelligence 15 2000 896-903

Author Title of Article
Takashi Ishida Development of a Liquid Metal Mobile Object Field
Journal Volume Year Pages Concerned
SAB 2000 Proceedings Supplement 6 2000 13-19

Author Title of Article
Daisuke Nishikawa On-line Learning Based Electromyogram to Forearm Motion Classifier with Motor Skill Evaluation
Journal Volume Year Pages Concerned
JSME International Journal 43 2000 906-915

Author Title of Article
Yuichi Sato Coupled Oscillator based Emergent SMA-Net Robot Control System
Journal Volume Year Pages Concerned
Proceeding of the Seventh International Conference on Artificial Life 7 2000 310-314

Author Title of Article
Keitaro Naruse Autonomous Vehicle Navigation by Layered Learning and Planning
Journal Volume Year Pages Concerned
CIRP 29th Manufacturing Seminar   1997 87-92

Author Title of Article
Jun Hakura Emergent Mechanism of Empirical Measurement for Adaptive Agents
Journal Volume Year Pages Concerned
journal of Robotics and Mechatronics 9 1997 24-32

Author Title of Article
Hiroshi Yokoi A Study on Force Feed-back Device Using 6 D.O.F Cartesian Robot (Adaptive control method for human spatial movement)
Journal Volume Year Pages Concerned
ITC-CSCC'97   1997 1077-1080

Author Title of Article
Masanori Kudo Constructing Amoeba-Like Behavior System : Mobile Automata in Vibrating Field
Journal Volume Year Pages Concerned
Fourth European Conference of Artificial Life 4 1997 284-289

Author Title of Article
Atsushi Fukuda A Study on Dynamic Image Recognition based on Adaptive Template Methods
Journal Volume Year Pages Concerned
IJCAI'97, Workshop on EHW   1997  

Author Title of Article
Yukinori Kakazu Review of Complex Systems Engineering
Journal Volume Year Pages Concerned
Journal of the Japan Society for Precision Engineering 62 1996 1077-1080

Author Title of Article
Takashi Nagai Morpho-Functional Machine : Development of Amoeba Like Flexible Robot
Journal Volume Year Pages Concerned
Proceedings of the 4th Multi-conference on Systemics, Cybernetics, and Informatics IX 2000 682-687

Author Title of Article
Tomokazu Shindo Adaptive Logic Circuits Based on Net-list Evolution
Journal Volume Year Pages Concerned
Journal of Robotics and Mechatronics 12 2000 144-149

Author Title of Article
Mitsuru Kurotaki Evolutionary reconstruction System using Inertia Coupling for Spacecraft
Journal Volume Year Pages Concerned
American Institute of Aeronautics and Astronautics 2000   2000 1--8

Author Title of Article
Hiroshi Yokoi Morpho-Functional Machine : Design of Amoeba Like Robot based on Vibrating Potential Method
Journal Volume Year Pages Concerned
Robotics and Autonomous Systems 28 1999 217-236

Author Title of Article
Hiroshi Yokoi Amoeba Searching Behavior Model for Traveling Salesman Problem
Journal Volume Year Pages Concerned
International Journal of Smart Engineering System Design 2 1999 43-55

Author Title of Article
Jun Hakura A Metamorphic Internal Image of Autonomous Agents : Emergence of behavior
Journal Volume Year Pages Concerned
Robotics and Autonomous Systems 28 1999 149-161

Author Title of Article
Daisuke Iijima Autonomous Acquisition on Target Approaching Behavior for Distributed Controlled Swimming Robot (The case of presetting oscillation action patterns)
Journal Volume Year Pages Concerned
Journal of JSME 65 1999 208-215

Author Title of Article
Daisuke Iijima Autonomous Acquisition of Environmental Oriented Behavior for a Distributed Autonomous Swimming Robot
Journal Volume Year Pages Concerned
Proceedings of SICE'99   1999 953-958

Author Title of Article
Daisuke Iijima An Acquisition of a Narrow Path Going Through Behavior for a Distributed Autonomous Swimming Robot
Journal Volume Year Pages Concerned
Proceedings of 1999 IEEE International Conference of Systems, Man and Cybernetics   1999 602-607

Author Title of Article
Daisuke Iijima Adaptive Behavior Acquisition for a Distributed Autonomous Swimming Robot Based on Real-World Learning
Journal Volume Year Pages Concerned
Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems   1999 229-234

Author Title of Article
Daisuke Iijima Adaptive Behavior Learning for a Distributed Autonomous Swimming Robot in an Environment Including a Narrow Gate
Journal Volume Year Pages Concerned
Intelligent Engineering Systems through Artificial neural Networks 9 1999 1135-1140

Author Title of Article
Koji Nishikawa Multi-agent Control System for the Symmetric Body Robot
Journal Volume Year Pages Concerned
3rd European Workshop on Advanced Mobile Robots 28 1999 25-32

Author Title of Article
Daisuke Nishikawa On-line Learning Method for EMG Prosthetic hand Controlling
Journal Volume Year Pages Concerned
Journal of IEICE 82-D 1999 1510-1519

Author Title of Article
Daisuke Iijima Distributed Robotic Learning : Adaptive Behavior Acquisition for Distributed Autonomous Swimming Robot in Real-World
Journal Volume Year Pages Concerned
Machine Learning Proceedings of the 13th International Conference 12 1999 191-199

Author Title of Article
Hiroshi Yokoi Morpho-Functional Machine : Robotics Approach of Amoeba Model based on Vibrating Potential Method
Journal Volume Year Pages Concerned
From animals to animats 5 1998 297-302

Author Title of Article
Hiroshi Yokoi A Morpho-Functional Machine : An Artificial Amoeba Based on the VPM
Journal Volume Year Pages Concerned
Proceedings of the Sixth International Conference on Artificial Life VI 1998 477-482

Author Title of Article
Hiroshi Yokoi Morpho-Functional Machine : Amoeba Like Robot based on Vibrating potential Method
Journal Volume Year Pages Concerned
Intelligent Autonomous Systems 5 1998 542-549

Author Title of Article
Keitaro Naruse Autonomous vehicle navigation behavior generation by reinforcement learning
Journal Volume Year Pages Concerned
journal of Robotics and Mechatronics 10 1998 413-417

Author Title of Article
Keitaro Naruse Modular reinforcement learning for autonomous vehicle navigation in an unknown workspace
Journal Volume Year Pages Concerned
1998 Japan-USA Symposium on Flexible Automation   1998 577-583

Author Title of Article
Masahiro Kinoshita Swarming Behavior of the Autonomous Block Agents for the Block Removal Problem
Journal Volume Year Pages Concerned
Intelligent Autonomous System 5 1998 550-555

Author Title of Article
Masahiro Kinoshita Autonomous Behavior of Block Agents for the Block Removal Problem
Journal Volume Year Pages Concerned
Intelligent Engineering Systems Through Artificial Networks 8 1998 543-548

Author Title of Article
Wenwei Yu Adaptive Electromyographic (EMG) Prosthetic Hand Control Using Reinforcement Learning
Journal Volume Year Pages Concerned
Intelligent Autonomous Systems 5 1998 266-271

Author Title of Article
Jun Hakura A Metamorphic Internal Image with the Complex Learning System
Journal Volume Year Pages Concerned
Second International Conference on Knowledge-based Intelligent Electronic Systems   1998  

Author Title of Article
Yukinori Kakazu Multiagent Systems and Their Applications
Journal Volume Year Pages Concerned
Towards Developing Flexible Manufacturing System in Steel Industry   1997 31-41

Author Title of Article
Hiroshi Yokoi A Study on Force Feed-back Device Using 6 D.O.F Cartesian Robot (Adaptive control method for human spatial movement)
Journal Volume Year Pages Concerned
Transactions of the Japan Society of Mechanical Engineers 63 1997 204-210

Author Title of Article
Jun Hakura A Study on Perceptual Mechanism of Autonomous Mobile Robots : Integration of Physical Properties of Robot into Perception
Journal Volume Year Pages Concerned
Intelligent Engineering Systems through Artificial Neural Networks 7 1997 509-514

Author Title of Article
Wenwei Yu Electromyographic (EMG) Pattern Recognition by Reinforcement Learning Method for Prosthetic Arm Control
Journal Volume Year Pages Concerned
Intelligent Engineering Systems through Artificial Neural Networks 7 1997 503-508

Author Title of Article
Wenwei Yu A Study on State Grouping an Opportunity Evaluation for Reinforcement Learning Methods
Journal Volume Year Pages Concerned
Trans. IEE of Japan 117-C 1997 1300-1307

Author Title of Article
Koji Nishikawa A Study on Reactive System Using Reconstructed Unit of Environmental Information
Journal Volume Year Pages Concerned
Intelligent Engineering Systems through Artificial Neural Networks 7 1997 239-244

Author Title of Article
Koji Yamada Adaptive Distributed System on the Vibrating Potential Field : An approach to the combinatorial optimization problem
Journal Volume Year Pages Concerned
Trans. IEE of Japan 177-C 1997 843-849

[Reference Books]
Author Title of Book
F.Hara Science of KANSEI
Publisher Year Pages
Science Pub. Company 1997 pp.132-136


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