Hiroshi Ishiguro

Real-time estimating spatial configuration between multiple robots by triangle and enumeration constraints

In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using multiple omnidirectional images based on geometrical constraints. Our method reconstruct not only the relative configuration between robots but also an absolute one using the knowledge of landmarks in the environment. Even if there are some obstacles in the environment, our method can estimate absolute configuration between robots based on the results of self-localization of each robot.

Hugvie: Communication Device for Encouraging Good Relationship through theAct of Hugging

In this paper, we introduce a communication device which encourages users to establish a good relationship with others. We designed the device so that it allows users to virtually hug the person in the remote site through the medium. In this paper, we report that when a participant talks to his communication partner during their rest encounter while hugging the communication medium, he mistakenly feels as if they are establishing a good relationship and that he is being loved rather than just being liked. From this result, we discuss Active Co-Presence, a new method to enhance co-presence of people in remote through active behavior

2A2-D18 Learning Dynamic Throwing Motion of A Wheeled Inverted Pendulum utilizing Whole Body Dynamics

We apply reinforcement learning to a wheeled inverted pendulum robot that acquires dynamic throwing motion utilizing whole body dynamics. Large number of parameters are needed to be calibrated so that the robot becomes able to throw a ball far away utilizing its own body dynamics while it keeps standing. We investigated the learning process of the throwing motion by application of a policy gradient method with a dynamics simulater.