jrm23-5 2011 邦訳111212 - kawazoe-lab

17
Journal of Robotics and Mechatronics, Vol.23, No.5 (October 2011) pp.684-700. Journal of Robotics and Mechatronics Vol.23 No.5, 2011 1 Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture) Yoshihiko Kawazoe, Masaki Mitsuoka and Sho Masada Graduate School of Engineering, Saitama Institute of Technology, 1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan E-mail: kawazoesit.ac.jp [2011310 2011629] There is no robot around us in our society at the current stage if we define a robot as an autonomous machine working in the arena of offices, homes, and disaster sites, etc. outside the factories. Mechatronics, dynamics and robotics involving humans are the world of strong nonlinearity. This paper investigated the approach to the emergence of the objective behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) for breaking through the problems of the conventional robotics with SMPA (Sense- Model- Plan- Act) framework in the real world. It showed the way of learning in the real world with SA and developed into practical education curriculum as an introduction to Robotics having an intellectual and emotional appeal. Key words: Robotics, Practical Education Curriculum, Autonomous Mobile Robot, Subsumption Architecture, Perception and Action 1.1 [1][3][4]-[7] [8][9] [10] , ZMP Zero Moment Point [11] [12]-[17] ASIMO ZMP [18]ASIMO ZMP [19] [20]-[22] 20

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Page 1: JRM23-5 2011 邦訳111212 - KAWAZOE-LAB

Journal of Robotics and Mechatronics, Vol.23, No.5 (October 2011) pp.684-700. ��������� �������������

Journal of Robotics and Mechatronics Vol.23 No.5, 2011

1

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Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)

Yoshihiko Kawazoe, Masaki Mitsuoka and Sho Masada Graduate School of Engineering, Saitama Institute of Technology,

1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan E-mail: kawazoe�sit.ac.jp

[2011�3�10��� 2011�6�29 �!]

There is no robot around us in our society at the current stage if we define a robot as an autonomous machine working in the arena of offices, homes, and disaster sites, etc. outside the factories. Mechatronics, dynamics and robotics involving humans are the world of strong nonlinearity. This paper investigated the approach to the emergence of the objective behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) for breaking through the problems of the conventional robotics with SMPA (Sense- Model- Plan- Act) framework in the real world. It showed the way of learning in the real world with SA and developed into practical education curriculum as an introduction to Robotics having an intellectual and emotional appeal. Key words: Robotics, Practical Education Curriculum, Autonomous Mobile Robot, Subsumption Architecture, Perception and Action��

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(g) t=1.76 s (h) t=1.88 s (i) t=1.96 s (j) t=3.04 s (k) t=3.20 s (l) t=3.72 s

Fig.1 Simple autonomous shock avoidance during falling down and instantaneous rising of biped robot GENBE-No.5-2005 utilizing instability. It takes only 2.5 seconds.

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011

3

(b) t=0.999 s (c) t=1.33 s (d) t=1.66 s (e) t=1.99 s ((f) t=2.33 s

(g) t=2.66 s (h) t=2.99 s (i) t=3.33 s (j) t=3.66 s (k) t=3.99 s

(l) t=4.33 s � (m) t=4.66 s (n) t=4.99 s (o) t=5.33 s (p) t=5.66 s

� � � � � � Fig.2� Going up the stairs of GENBE-No.4 with 10 freedom legs with instability.

Fig.3 Humanoid biped robot who walks and runs on the ice and snow in the lake HARUNA. 1.3VWXYZ[\AQ� ]^'_`a � �]�ÎU$�:�*ç�ê�H°Në(W<9

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Fig.4 Example of computer aided measurement of

characteristics of sensors using C and Excel in the project.

Fig.5 Presentation and contest of autonomous biped robot

in the projectY.

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011

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Fig.6 Example of Subsumption architecture in the project.

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Fig.7 Example of estimation sheet in the contest.

Group Idea Technique Art Effort Total Score Group First Place Second Place Third Place1 19 21 22 23 85 Total Score 95(No.11Group) 92(No.7Group) 89(No.8Group)2 19 18 19 22 78 Idea 23(No.11Group) 21(No.7,8Group) -3 17 13 16 20 66 Technique 24(No.11Group) 23(No.7Group) 22(No.8Group)4 17 16 17 21 71 Art 24(No.11Group) 23(No.7,8Group) -5 19 19 19 22 79 Effort 24(No.7,11Group) - 23(No.1Group)6 18 18 18 22 757 21 23 23 24 928 21 22 23 22 899 14 13 15 19 61

10 19 17 18 21 7611 23 24 24 24 95

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[Point]Total Score

19 19 17 17 19 18 21 21 14 19 23

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[Point]Idea Technique Art Effort

Fig.8 Example of estimated results in the project. � � 9K9pØÙÚ ���$x yz{�y�<(a)òP9(b)(c)µ�<Qfñ<�[�_9(d)%��<]�Qf9(e)af%�<�OUþ)9(f)�µ�<]�Qf<fÔN�Q_ ]�QfK9·��Í<©sQfJAB���9��<�*931�10 mõ3I 3{1â SSH�Super Science Highschool�90 mõ3$�1�!1Q�x$x yz{� SPP(Science Partnership Project)<à1¯JAB�Å�+�A�c�í&ï�9Qf*y�A�(µ4n�13�½�!�

�2010 � 3 � 23 �9 ´��!������2009� 12� 16 �9��!��2008� 3� 6 �9��!��2008 � 3 � 6 �9à�2���2005 � 10� 12 �9� !�����2005� 10� 9 �9��!��2005� 10� 7 �9 �af!��2005

(a)

(b)

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Fig.9 Scenes of educational curricula and presentation of autonomous biped robot. � 9� 8 �9 �af!��2005� 9� 5 �9 �af!��2005� 9� 1 �*��-.�_u�9%�4�µ�<¼µ��i[À78c�5-.�_ 1.4��� ������������b � &f<�+9î+90�N�éQ/FG<äåâ

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011 6

ÞB9ÃAB��*Ú�N²�Q�SMPA: Sense- Model- Plan-Act9� 10�_AXA9�<ih7È�Ì[cKp(<ªm7��Ü�n/_�(K ð3

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B<äy�1âN�XR&[7¡Q�J*7/[38] [39] [44] [45]. � �Ì9áâ�{3�Ê­A���g¬ (SA: Subsumption Architecture) Në(Ú�ñ�2®12�$º13�$� ����� 11�K9Å�Ú�J�S./Û¯7äy�1âN��D*�_�lB^

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n/[46]_AXA9¼µúKº��ÀJ Brooks �êëA�ih*[31]9nªD7FG<wæc<µúN�[»�cW¼uA^�üKYR.7^[38][39]_u�9¼½¾$·¬,c()-.�Ú�K9Ú�Uc Þ

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[47][48]J^hih*Â^wæ*ûü-.4Q^_�JDÚ�GÃ<��<µú*i/�x 1�N SA

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Fig.10 Conventional model-based Robot.

Lv.0

Cruise

Escape

Lv.3

Search

Avoid2

Lv.2

Lv.1Avoid1 SSensors Actuators

Escape

Lv.0 Lv.1 Lv.2 Lv.3S : Escape > Avoid1sAvoid2 > Search > Cruise

� Fig.11 Example of Subsumption architecture

J��A�UVWn/�[47]9ø´Ú��Å�Ú��<�_nlX�9n/^Kµú<tu¶JÃ<W<

*Ñ��Ê/_WX,JAB<ÄÖÌ�7�.S SA*i/C° ���<´LN!üQ/�JKcm7

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*WXXYRZ9SA Nº13*A� Brooks<WX,JAB<CD ���K�<ih7ûüN��4

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�[29]_ � � 12<Î< ���Kµ×UVg*&\A��� ��� Mobile-2004N�Q_½¾gÞõ� 1�K9ä� 1� 68332 (25 MHz, 32bit CPU)Ï�9CCD���K ���<sÌ*&�B2ZAB ���<sÌ<ÐN�YA�_Ð<�Y* 0.3 [s]�+<|UNÅA9�<yr<Ä!|U*�l|U�X

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011

7

(\n�åâ<�»ä 1.2V, 2230 mAh)$6´*ABÖ�'A�_ ���<0 hK9Èæ�Ô 185 [mm]9%-��ç¡� 152 [mm]9L� 1.23 [kg]�ð�à�q�� cn/_CCD���²;<±ZK 112 [mm] cn/_ÎÚ<��� ÔU<£¥K 116 [mm] 9sÌñ<=mK 4.3 +cn/_ � � 13K9���×ècn[9 ����¿�:4�éNÅÀA7�R�NEu7E�^BêÐN

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B^/_¿�:ÅÀAvoid 1K�·9¿�:ÅÀAvoid 2KÂ^_í9¿�:ÅÀ Avoid 3K%î?æÑ*¡�/Å�Ú�cn[9¿�:ÅÀ Avoid 3K¿�:ÅÀAvoid 1u�K¿�:ÅÀAvoid 2J�|*�|KLN��Q�� Avoid 3Nãä-W9¿�:ÅÀAvoid 3<Ú��KÈs<¿�:ÅÀ Avoid 1u�K¿�:ÅÀ Avoid 2*î/ih7½¾g¬*AB^/_�<ih7 SADÄ!,N� 149Ú��1�à{�2N� 15*�Q_ � � 16K9JD·uc<�m<2å/$Þ¯ïàcn[9(1)�3�1�·Ü9(10)�êÐ<�Õ·Ücn/_

�Fig.12 Mobile robot-2004 (left) and robot e-puck (right)

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� � � � � � � (b)

(c) � � � � � � � � � � � � � (a) Fig.13 Experimental environment è

� � 17K9¿«î+ 70[cm/s] c%î?æQ/�1â*«Q/êÐðGÑ< ���<¿�:ÅÀ<�

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G�N�Q_� 18 K9���*¡^B�EÎU<ØN�D¿�:JABÅÀÚ�NA7�RêÐð

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Sensors Actuators

Lv.0

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Escape

Lv.4

Search

Avoid2

Lv.3

Lv.2Avoid1

Avoid3 Lv.1

Fig.14 Subsumption architecture of autonomous

Mobile-2004.

Escape

Cruise

Avoid1(plain)

BACK�Right-Turn

BACK�Left-Turn

BACK�2�Left-Turn

Left-Turn

Right-Turn

Left-Turn

FORWARD

PSD

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L-front Sensor

R-front

Center

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CCD Search Jubilant-TurnRed S

(*)S : Escape > Avoid1, Avoid2, Avoid3 > Search > Cruise

(*)

S

S

(*)

(*)

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Right-Turn

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Right-Turn

Right-TurnR-side(0) Sensor+

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(0):Detect no obstacle (1):Detect obstacle (1.1):Detect obstacle which approach

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L-side1(0)R-front1(0)

R-side2(1)L-side2(1)

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2�Left-Turn

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Servo

Fig.15 Subsumption architecture of autonomous Mobile-2004

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011 8

Ú�cn/_� 20K9���<Eó����*¡^Bò��oB^/ÎU<�mN��AB�D¿

�:JABÅÀÚ�Q/ ���<k�N�Q_

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(1) 0 s (2) 8 s (3) 16 s (4) 24 s (5) 30 s

(6) 40 s (7) 48 s (8) 55 s (9) 64 s (10) 68 s

óôõö÷øù���úôûüýþ÷���õô�ý��÷ö���Pô�÷��������ôö÷÷�÷��������ôú� ÷���ô�÷�����ôö÷÷

Fig.16 Autonomous and objective behaviors of Mobile Robot 2004 with SA(Escape�Avoid1�Avoid2�Avoid3�Search�Cruise) for searching for RED color using CCD camera with high-speed approaching obstacle avoidance in a new unknown environment.

(1) time t = 0.0 s (2) t = 0.33 s (3) t = 0.67 s (4) t = 1.0 s (5) t = 1.33 s

(6) t = 1.67 s (7) t = 2.0 s (8) t = 2.33 s (9) t = 2.67 s (10) t = 3.0 s �

Fig.17 Avoidance (B) of Mobile Robot-2004 against an approaching ball with a relative velocity of 60 cm/s during searching for RED color.

2 0.0 s. 32 1.0s 62 3.0 s 92 4 .0s 122 5.0 s

152 6.0 s 182 7.0 s 212 8.0 s 242 9.0 s 272 10 s

302 11 s 332 12 s 362 13 s 391 14 s

Fig.18 Robot-2003 behaviors of avoiding moving human legs as obstacles.

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011

9

2 0.0 s 17 0.5 s 32 1.0 s 47 1.5 s 62 2.0 s

77 2.5 s 92 3.0 s 107 3.5 s 122 4.0 s 137 4.5 s

Fig.19 Robot-2003 behaviors of avoiding moving human hands as obstacles.

20 0.0 s 35 0.5 s 50 1.0 s 65 1.5 s 80 2.0 s

95 2.5 s 110 3.0 s 125 3.5 s 140 4.0 s 155 4.5 s

170 5.0 s 185 5.5 s 200 6.0 s 215 6.5 s 230 7.0 s

Fig.20 Robot-2003 behaviors of avoiding a moving human body lying down outside experimental environment. �

id)*j��� ��k$�%&'�lb+

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011 10

�a�Avoid �b�Approach Fig.21 Approach and avoidance of Braitenberg Vehicles

IR0IR7

IR6 IR1

IR2IR5

IR3IR4

Front

Rear

� � �a� � � �b� Fig.22 Robot e-puck and locations of IR sensors

(a) t = 0s (b) t = 0.33s (c) t = 0.67s (d) t = 1.0s (e) t = 1.33s (f) t = 1.67s Fig.23 Obstacle avoidance behaviors of robot e-puck

(a) t = 0s � (b) t = 0.33s � � (c) t = 0.67s (d) t = 1.0s Fig.24 Approach behaviors of robot e-puck

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011

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� � (a) Vol.01, p.1 (b)Vol.08, p.1

(c) Vol.8, Exercise � (d) Vol.8, Practice Theme Fig.25 Example of Weekly Textbooks

(a) (b)

Fig.26 Measurement of IR-sensor characteristics and an example of report.

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011 12

�� ���$x yz{�� vol.01 $$$CÅK e-puck*Ï�-.B^/ IRqõ0<Á±NGlB]*uJ�;mQ/_

1. IRqõ0¢O��

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Fig.27 Computer aided measurement program of

IR-sensor characteristics with C language.

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A��[<ØUD77E[ûcn/_� 35K9+rþ�a�<Þ13×9� 36KÃ<�fÔcn/_ � � 37K9� õ<�<¿�:NÀ�7�RD*Þ13NÙ/ ���<Q"��1QVõJ

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(a) (b) (c)

Fig.28 Line trace experiment of autonomous robot with floor sensors and the project contest scenes

Fig.29 Robot simulator and forwarding program to autonomous robot.

(a) Robot for experiment (b) Robot for 3Dsimulator

� Fig.30 Robot for experiment and 3Dsimulator

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13

��

(a) Simulation (b) Experiment Fig.31 Autonomous obstacle avoidance with comparison between simulation and experiment

(a) Simulation (b) Experiment

�Fig.32 Simulation and experiment���

(a) Simulation (b) Experiment

Fig.33 Simulation and experiment���

(a) Simulation (b) Experiment

Fig.34 Simulation and experiment���

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Journal of Robotics and Mechatronics Vol.23 No.5, 2011 14

Fig.35 Experimental environment in final competition

(a) Simulation (b) Experiment

Fig.36 Scenes in a final competition of autonomous mobile robot.

(a) Simulation (b) Experiment

Fig.37. Line trace with obstacle avoidance

� � � � t=24.63s � t=28.97s � t=31.83s

Fig.38. Experimental behavior of autonomous mobile robot with SA during line trace with obstacle avoidance

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15

(a) (b)

(c) (d)

(e) (f)

(g)

(h) (i)

(j) (k)

(l)

Fig.39 Scenes related to the educational curricula and

the presentation of autonomous mobole robot.

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� �_7¢£<úUN�DQ��cìµQ/z�

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A�^_�

� ¡Y[*9´UV*Ì�-^��^� Dr.Takashi Gomi (Applied AI Systems Inc.)*VWQ/_u�9ª

µE¡iIµ¡<ofUV¡iI Xó JABYz7

�-N^��^�UVZ<µ�[\*VEPWQ/_ �� � � � � � � � � � � � � � �� � [1] ]�^_$ì`u a9 ���<C°JQ3à�ª89

´ ���µ)¶920-5,(2004), pp.4642- 469. [2] ]�^_9ÎUñ ����0EG()J!½f<Tï9

´ ���µ)¶922-1,(2004), pp.2-5. [3] �b�^c9ÎUñ ���<æG¬g9 ´ ���

µ)¶922-1,(2004), pp.6-9. [4] ZdÛe9 ���QàÝñ<L�9 ´ ���µ)¶9

22-7, (2004), pp.853-855. [5] Ñfg#9 hD7�J<cm7^ ���9 ´ ��

�µ)¶9Vol.16,No.1, pp.26-26, 1998. [6] hiÇP9{ò&f ���x yz{�<�\JÊ-.

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[ 9] o]p?9 ���½f*yQ/¨bGH$¨b±¢<��

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[14] {|}S$ªf|~$�é��$Tc��?,” �ª®�1¯p ° ���*i/ö !"�{²m��[Ú�<�

|”, ´ ���µ)¶9Vol. 23, No. 6, (2005), p. 706-717. [15] )´�9“�_-<�©�ö !"{3º13�½¾”9

´ ���µ)¶9Vol.24, No.7 (2006), pp.791-796. [16] ª´`��9“ö !"{3º13�½¾<¼��îÀ”9

´ ���µ)¶9Vol.24, No.7 (2006), pp.797-799.� [17] ����$ª´`��$�>�S$Ld��9“�çó<±

LN¥gA�C�J½¾”9 ´ ���µ)¶9Vol.24, No.7 (2006), pp.807-811.

[18] ��ã$���$%�wS9.Ø®�1¯p ° ���

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Vol.23, No.4, pp.404-407, 2005. [20] �� ª�9dy� �,”*}yÝ1°ð�{½¾Ng^�2�

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[21] {|}S9“ �àÝ�{$0 mõ3JKÆX”9 ´ ���µ)¶9Vol.28, No.4 (2010), pp.370-374.

[22] ��>?$��s5$�iõ²9ÎU/Á�1�<�Î�

JúU+<�/3$mõ� pü�Jy�yݽ¾*i/�

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[24] I B�9 �Þõ<ÎU��DwP9 ´ ���µ)¶9Vol.27, No.9, pp.964 – 966, 2009.

[25] I B�9�<Î*�E ���aµ<�0�9 ´ ��

�µ)¶9Vol.27, No.9, pp.1001–1004, 2009. [26] ��>?9 ���<�mN��Q/����-<½¾9

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[28] ��>?9�é��9 <¡�9ñpØ ���á�

�<Anti-ZMP*i/ØUD�Ý��ÅÀJ²m��[9 ´HIµ)$Dynamics and Design Conference 2006 CD-ROM¿�Â, 550:1-6, 2006.

[29] ��>?� ��¼®�1¯õ$ ���µÀµ×UV��� ���JpØÙÚ ���<��g¬'�9 ´HIµ)

2006�+�ɪ)ò�¿�Â(7), No.06-1, 29-30, (2006). [30] ¢æ£�9! AI¢£*i/0123 ���9�$y! 9

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13 s 1», pp.28-39, 2001. [32] ´�� 0$��¤¨$o]p?$¥¦3§9¼n1h*øù

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[33] ¨ét²9UV<K�µ9 ´ ���µ)¶9Vol.27, No.3, pp.260-262, 2009.

[34 ]ASIMO*��µÃÄ!NABWRÖuW�X9·¸*ÂhQ&A9¡¾-u¿Àqõ�19ôõö<ô1�Á1y�

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ÂCD-ROM, RSJ2010AC1L3-4, pp.1-4, 2010. [41] ��>?9pØÙÚXRt�/�� ���P���x

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Name: Yoshihiko Kawazoe Affiliation: Dr. Eng., Professor, Graduate School of Engineering, Saitama Institute of Technology

Address: 1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan Brief Biographical History: 1976-1986 Assistant Professor, Saitama Institute of Technology 1985 Received Dr. Eng. degree from The University of Tokyo 1986-1990 Associate Professor, Saitama Institute of Technology 1990- Professor, Saitama Institute of Technology Main Works: • Fuzzy Controllers, Theory and Applications, Edited by: Lucian Grigorie, ISBN 978-953-307-543-3, InTech Publishing, 2010. •Y. Kawazoe et al., Chaos-Entropy Analysis and Acquisition of Individuality and Proficiency of Human Operator's Skill Using a Neural Controller, Journal of System Design and Dynamics, Vol.2, No.6, pp.1351-1363, 2008. •Y. Kawazoe et al., Prediction of Impact Shock Vibrations at Tennis Player's Wrist Joint, Journal of System Design and Dynamics, Vol.4, No.2, pp.331-347, 2010. Membership in Learned Societies: • The Japan Society of Mechanical Engineers (JSME) Fellow • The Robotics Society of Japan (RSJ) • Society of Biomechanism (SOBIM) • Society of Automotive Engineers of Japan

Name: Masaki Mitsuoka Affiliation: Master Course, Graduate School of Engineering, Saitama Institute of Technology

Address: 1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan Brief Biographical History: 2010- Master Course, Graduate School of Engineering, Saitama Institute of Technology Main Works: • Autonomous Mobile Robot • Practical Robot Education Curriculum

Name: Sho Masada Affiliation: Master Course, Graduate School of Engineering, Saitama Institute of Technology

Address: 1690, Fusaiji, Fukaya, Saitama, 369-0293, Japan Brief Biographical History: 2011- Master Course, Graduate School of Engineering, Saitama Institute of Technology Main Works: • Autonomous Mobile Robot • Practical Robot Education Curriculum