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This paper presents a calibration method for a robot Head-Eye system which can be used in a humanoid robot vision system. This method estimates the transformation between the robot coordinate and the camera coordinate. The calibration procedure uses visual measurements and kinematic information as the inputs of nonlinear optimization. For this calibration(More)
Cognitive architectures provide infrastructure for modeling human cognition. Recent studies reveal that these architectures are useful control mechanisms for a variety of robots. Previously, we showed one such architecture, ICARUS, can successfully control a humanoid robot for Blocks World tasks in a simulated environment. In the current work, we extend the(More)
Latest humanoid robots mimic the human body in realistic ways, but their control mechanisms fall short of the human mind. More often than not, the robots simply have a fixed set of routine codes that govern their behavior, and even the ones with some learning capabilities are not human-like. Since cognitive architectures aim for general intelligence and(More)
This paper proposes a real-time optimization method for the high-fidelity of human motion imitation using a marker-based motion capture system. Although many ways to generate realistic synthetic motions from the capturing data have been developed, there are common problems related to marker occlusion. Our approach is useful for getting over marker occlusion(More)
BACKGROUND The beach chair position (BCP) can cause significant hypotension. Epinephrine is used to prolong the duration of local anesthetics; it is also absorbed into blood and can exert systemic effects. This study determined the effects of epinephrine mixed with ropivacaine for an interscalene block (ISB) on hemodynamic changes related to BCP. METHODS(More)
This paper describes the development process of the network-based humanoid to provide services in home environment. To provide successful service, various sub-systems of the robot need to be coordinated effectively. So the paper introduces a coordinated framework which makes it possible to interact with humans while executing various tasks by various(More)
It has long been a desire of human beings to coexist in the same space together with people in remote locations, and interact with them in a natural way. There have been proposed various concepts to connect the real world with the remote world in 3D space [1, 2]. In this paper, the concept of <i>Coexistent Space</i> for collaborative interaction in shared(More)