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Flexible Cooperation of Human and Robot by interpreting Human Intention from Gaze Information 26413 16 1 30

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�1 � ��� 2

�2 � ����� 5

2.1�/�&ãQ�@�B Q"�}i3?A�C*DUE8F�G�A�$��@����':)

. . . . . . . . . . 5

2.2o-p-lUmH�q�r{nM|�':)

. . . . . . . . . . . . . . . . . . . . . . . . . 6

�3 � ������������� 9

3.1o-pâ�e��/�

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.2 LEGOiyÇ:�-È*1�¥U¦>$32��*�MoUp�l�m/i����

. . . . . . . . . . . . 11

3.2.1[����

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.2.2[�ë �"!

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.2.3 # ë�$ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.2.4[�ë*W�%

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.3o-p>i&´-æ

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3.1 EMR & ðfC�i�'#­"(*AyÞUð:F�G�A . . . . . . . . . . . . . . . 18

3.3.2 ) o/Ø-�Ui�*"+ . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3.3.3oUpfiyÌ�Í�lUm#$!²��}�/�Ui

“Á 6

”v-w/i�, �

. . . . . . . . 24

3.3.4Ç!�.-/��v*w#$@2��*�5o-pfi0*"+

. . . . . . . . . . . . . . . . 25

3.4x1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

�4 � ��/2�3�46587�9�: ;=<��.>�? 29

4.1C�Ý!EA@ &"B i��8å4_¸Uº*�*¥:i�C�D . . . . . . . . . . . . . . . . . 29

4.1.1C�Ý:E�@ & B iFE�Ç!� . . . . . . . . . . . . . . . . . . . . . . 29

4.1.2C�Ý:E�@ & B i�;=�*��å . . . . . . . . . . . . . . . . . . . . . 30

4.1.3¸Uº*�U¥:i�C�D

. . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.2o-pBH�q�rânM|@¸Uº-�-¥:iPÕUÖ

. . . . . . . . . . . . . . . . . . . . . 31

4.2.1¤ 9 i&¸Uº��-¥:i�G É=H

. . . . . . . . . . . . . . . . . . . . . 31

4.2.2Â�Ä�vUw#$32��*�M¸Uº-�*¥:iPÕ�Ö

. . . . . . . . . . . . . . . . 31

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4.2.3Ç!�.-/��v*w#$@2��*�5¸-º*�-¥:iPÕUÖ

. . . . . . . . . . . . . 34

4.2.4��&�

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

�5 � 3 ���.������������ ����� 38

5.1 ��� ð�����?����@� Y"%F8Ý�Þ!ß . . . . . . . . . . . . . . . . . . . . 38

5.1.1 ��� G�A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5.1.2 � ð!ß���A�� . . . . . . . . . . . . . . . . . . . . . . . . . . 40

5.1.3���!

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2 ) o H C �fF8Ý�Þ!ß�i#"%$ . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2.1 EMR-8i%&('

. . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2.2 )�*!+#,.- $@2��*� ) o�/10:i�����W.% . . . . . . . . . . . . 43

5.2.3�Uð�28ð +�, =⇒ )�*!+#, . . . . . . . . . . . . . . . . . . . . 45

5.2.4 � ?���ðfE32=(�D +�, =⇒�Uð�2�ð +�, . . . . . . . . . . . . 47

5.2.5 ) o�/(0 =⇒ � ?��UðfE42=(�D +�, . . . . . . . . . . . . . . . 49

5.2.6 )�*!+#,.- $@2��*� ) o�/10:i���� . . . . . . . . . . . . . . . 54

5.3 3 ÙUÚ o-p�Û�ÜBF�Ý8Þ:ß . . . . . . . . . . . . . . . . . . . . . . . . . 54

5.3.1� !-ª-«:iy¨-©

. . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.3.2 ) o H i�I�o#5 . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.4F�Ý�Þ!ß�i46�7

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

�6 � 8�9;:�<>=!8>?#@�A 61

6.1~��-¥U¦:i@µU0

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

6.2[�ò

I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

6.3[�ò

II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

6.4[�ò

III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

�7 � @�� 69

7.1����

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

7.2 B�C i4D É . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

E#F72

G�H(I�J73

iv

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3.1 ������� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.2 ���� �� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.3 EMR-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.4 �����������������! . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.5 LEGO Parts I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.6 LEGO Parts II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.7 "�#%$'&��)(�* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.8 +,���.-0/�1�243,5'67"�#�$8& . . . . . . . . . . . . . . . . . . . . . 16

3.9 LEGO ��9�:<; . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.10 =?><��@�A�B�CED!F . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.11 =?><��@�A�B�CG3IH�J<��D!F . . . . . . . . . . . . . . . . . . . . . . 23

3.12 )!=LKNMOH?J�P.Q�R!S�Q'T)UWV)6)B�C)X . . . . . . . . . . . . . . . . 24

3.13 "�#%$'&)Y!Z<[�\���]N^`_bac�)d . . . . . . . . . . . . . . . . . . . . 26

3.14 "�#%$'&�/eQbfhg���)�=�i��) �� . . . . . . . . . . . . . . . . . . . . 27

4.1 "�#�j�kEl'm%��n�op3Iq�r�\���] . . . . . . . . . . . . . . . . . . . . 34

4.2 s�Z�tuTwvyx.z|{E}�~?��T���6��?�?��� . . . . . . . . . . . . . . . . 35

4.3 �8VI\���]?T���6���[�6�s�Z?t0/|���Wz7{�"�#�$'&�d . . . . . . . . . 35

5.1 ���L����aO������� . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.2 EMR-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.3 EMR-8 ���G^��G�����N��� . . . . . . . . . . . . . . . . . . . . . . . 43

5.4 EMR-8 ���?� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

5.5 1�2�[��?���.� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

5.6 9 ��_!�p�� G¡�¢G�����E�. . . . . . . . . . . . . . . . . . . . . . . . 46

5.7 �� ?£.�<�)��� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.8 ���'^��G�������w���� �� . . . . . . . . . . . . . . . . . . . . . . . . 47

5.9 EMR-8 �����<3 9 ��_��¤�� G¡)¢N�w���E�. . . . . . . . . . . . . . 48

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5.10 �������?���LT��<&?6�)�=�i . . . . . . . . . . . . . . . . . . . . . . 50

5.11 �������?���LT��<&?6��?�?������ � . . . . . . . . . . . . . . . . 52

5.12 )!=�i����� ���� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.13 3DTM T��.6|n�o������ . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.14 ������C�T��<&�6�)%=�i���Y�=�� . . . . . . . . . . . . . . . . . . . . 57

6.1 �������L��r� �R�!����#"w�#$<��� a . . . . . . . . . . . . . . . . . 62

6.2 !�%&���L��r� �R�!����#"w�#$<��� a . . . . . . . . . . . . . . . . . 63

6.3 )!=�n�o���H?J��%!���� . . . . . . . . . . . . . . . . . . . . . . . . 64

6.4 )!=�n�o���H?J��%!���� . . . . . . . . . . . . . . . . . . . . . . . . 65

6.5 Shovel 3 BlockB ��"�#!$0&w\(')�u� . . . . . . . . . . . . . . . . . . 66

6.6 )!=!s�Z�tuT�)�*,+Ir� ��%����� . . . . . . . . . . . . . . . . . . . 67

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3.1 ���!�����������w���)��� . . . . . . . . . . . . . . . . . . . . . . . . 19

3.2 @�A�B�C���������� . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.3 @�A�B�C�/�� z7{����.���������N�w������� . . . . . . . . . . . . . 21

5.1 � �!��� . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

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3.2 LEGO � � � � � � � � � � � � � � � � � ��! ¯#"%$�¯ Ë'&)(Y´�µ��)*+� #, � ;"´�-%. ¯0/%13254)6  87�9Ð3b´;:�<>=�?@ � ;�-�.�=0ACB p ¾ ¯EDGFIHCJGK �;L¢ �M;NGO ¡9Ñ�P8Q Í ¡CR : Ñ�Q ´ LEGO¯

����TS �;L� VUW PX ´E�LZY ¯ -�. ¯ µ � ¯C[G\   K)]�^R LEGO¯C_�����S

(�´;`¢¬ba ��c�d8_����S;^Ce;f%Q �&´#g ¼ ¯�_����S aZh �jiCk ÃYÄ�Oml R�nG^ ´`mo�p>q Hsr;4md ¸Tt;a �%cuQ �wv�x;y{z}|;~ Q (������ H l�a �%c>P�H l R!�C�pmq'=�� LEGO�s_��)��S (��)�)���%=�gG� Q���� � _���)SE� LZY;=0�0�T�G�G�� k NG<>l P��Z�I� <ml R :�< �V��46�P}[u� & H#�; I�s¡Z¢;d�£T¤�¥Z¦ l ��PVQ ��T  *T+ d , � l �!P =!pl8§ [ZH�JKT� L k¨ x P#H l Rn�© ( LEGO

�0_!��)S%d8ªZ«uS � l�-%. �C� T¬�­ h d�®G¯ Oml#MG° d�ªZ«�^)R : ��±�²jd ��³�=�´] l R

3.2.1 µ�¶3·¹¸�! ( LEGO��_%����S�� L d U;W PX � 1 3.2 =�º�O�pmq�=0�E»T�!=#¼T� XVS� l LEGO

��_����SE� L!=C½ ¦ l �; I�C¡j¢;d#¾G¿�XÀ^;R�� LTÁ�.;(�Â�-GÃ!( �l k � 3 ÄGÅTÆ Q��Ç� �uÈÉ!&EÊ�Ë HE� L Q�� l RsÌ °GÍ�= �m�8Î o#ÏCÐ;ÑZÒ �GÓÔ dCÕZ�0SjÖ%� � �: �0×u_��)�)S�d�ª q�pØq�=#Ùº X8^;R

3.2.2 µ�¶ÛÚÝÜ3.2.2.1 EMR-8

M;°Z=GÞ�� ( ß ) àâá0ã#äjå ­%æEç ã�è�A æ�­�éêj�;ë�ì;í�¡�¾¿;î)ï EMR-8(1

3.3)d , � l R��0�Cî�ï Þ�Ë ë;ð å)ñ ( òEä�ó ­ ã ð åTñ )

P ò�äó ­ ã8ôZõ0ö)÷>áø Î��úù Ñ�û}< S ½ � �#ôjõjû�< ^;ëEìuüjý�Î�� ö ­;þ)�#ÿ��I�����Güjý�d#¾G¿�X ��3.4 =�º�OÇpmq�=��)ò�ä�ó ­ ã ð å�ñ Q0¯ � < ^�� òC~Øhsä�� �s��� �>=� ë�0�������¹d������ ºTO�l���� ç � Q%� l R EMR-8

�0�� ��>i�� ��i�! z ­ ø Þ30[Hz]

Q�� l R!�C� ��� ç � �s� üZý#" Æ P%$�&�')( p;l+*�, ¾G¿�" Æ d.-�/ XS � l10�2 k)� l [16]R�43)( pul P �65 ï�" ÆIÞ�7 ���)nGQ;� *�, 1m

( t ¢ 1cm

11

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3.2. LEGO�s_����)S���� ( ½ ¦ l � ����!��®G¯ �

3 � � �s� j����

�3.2: �;° �����

Å�Æ QT� l ��PVk Ä Î«GS � l Rn;^ ��7 ��� *�, k 50cmι�

150cmn;Q Þ������� ( *�,���� ku¨ x Q�� l k ��� 3 �)� � *�, (� l �jd 7 �ÝXVSIÖ � $�&�' (à k�� o © *�,���� k��)¨ x Q�� l �%P8k Ä Î)«�S � l R! #"�� 0�2�$�% k�&G���QT� l ��P�d#��' OØl P �(�� � ÈGÉ�)+*Ç� (150cm ��, )

d 7 � Oml ��P.(�- l �Q ��*�, ÖÀüZý!���¹Ö/.�0%Q�¢ l P � � l R�� )¿ �IYC� Ì °�Í>Þ21�3 (54 y d#¡Î�6â�7#kG¨ x#8 � l ^ Ïu� EMR-8�Eî�9 ( p;l ���j�;:=< Þ�� 7?>A@!- ��BDC

8 � l(E n�^ � EMR-8( p � ¾G¿ û 3 l ¬)­ h�Þ��� ë��FDGIHKJ�L�üjýu����'¬)­ h nG^ Þ EMR-8ð åTñ ���M�( ½ ¦ l ����N 8 � lOE

3.2.2.2 LEGO P�Q#R�u°�8!S 0�XÀ^ a ­�c�d � 3.5 ½>p ¤ � 3.6

( º 6 E�a ­�cUT �;� � a ­�c�kWV¹�X � l'v�xy)½mp ¤ � � Â�Y%�Ea ­%cu�OZ ½>p ¤ � �OZ!� a ­%cu� Â�Y d º X X �l+E�v�x)yjÞ 7 t (Axle, Open-Axle, Bearing, Peg, Hole, Screw, Screw-Hole)( Ä[ û 3 � Z Þ 6 t (Red, Blue, Green, Yellow, Black, Grey)

( Ä [ û 3 l(E8v)x;y (t � X;\^] �/_a` 6 lOE 7 t � v�xyjÞu��� 3�b�3 $�c 6 lÀv�xy 7��G��_��G¥m¦¨ x�8 � l(E _T��¥>¦s¨ x - v�x;y �s_���fad�e>d � 3.7( º 6 E n�f � “Axle and

Bearing”�!gT��¥Z¦a7

“Screw and Screw-Hole”�!gT��¥j¦�( ÞE� g��0¥>¦!L�×)(?h©

“Driver” i 0 � XOj æ!k Ï�i ªmlnhT²�o��Dp (�

3.8) E

12

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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �

3 � � �s� j����

�3.3: EMR-8

�3.4: ò�äó ­ ã ð åTñ � �

Ì °�Í (5g���� X ��� i�Ùº ] f LEGO� Ð;Ñ � i � 3.9

( º 6 E ���)(!h)²-� ­�� YZÞ 13 ��8 ��p EE»T� (��p�� � ­�� Y>Þ�� ��hT²a- � ­��IÖ��=dOe X 24

��8 �Dp E f ����0�2�8)Þu� � ­��G�� ����!�O��� (W9�� ] X ���%�!�� i ªZ«X ½ � � �C�����275-�p?Z!�(��� ÞCÐ;Ñ � Î��w®Ý��� � X �Dp E3.2.3 �ݶ��Ì °uÍZÞ�� � �%�"! 5

T 8 �Dp E��G° �"#�$ ( $ ] X�%& Þ"'�( d 3 X � - � E

13

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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �

3 � � �s� j����

BlockA 1: Axle ×2 Blue ×1

BlockC 1: Axle ×2 Black ×1

3: Bearing ×1

BlockE 4: Peg ×1 Blue ×1

5: Hole ×1 Yellow ×1

BlockG 4: Peg ×1 Yellow ×1

5: Hole ×3

BlockB 1: Axle ×1 Blue ×1

3: Bearing ×1 Block ×1

BlockD 1: Axle ×1 Blue ×2

4: Peg ×1 Red ×2

5: Hole ×1

6: Screw ×1

BlockF 4: Peg ×1 Green ×1

5: Hole ×1

Driver Grey ×1

Nut Black ×1

�3.5: LEGO Parts I14

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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �

3 � � �s� j����

BlockH 1: Axle ×1 Red ×1

5: Hole ×1

BlockJ 2: Open-Axle ×1 Yellow ×1

3: Bearing ×1

BlockL 6: Screw ×1 Black ×4

BlockI 3: Bearing ×1 Yellow ×2

4: Peg ×1

7: Screw-Hole ×5

BlockK 1: Axle ×1 Red ×1

3: Bearing ×1

4: Peg ×1

7: Screw-Hole ×8

BlockM 3: Bearing ×1 Yellow ×1

4: Peg ×1

7: Screw-Hole ×9

�3.6: LEGO Parts II

15

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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �

3 � � �s� j����

(1) Axle and Bearing

(3) Peg and Hole

(2) Open-Axle and Bearing

(4) Screw and Screw-Hole�

3.7:g��u¥m¦���� [

(1) Driver into Bearing

(2) Driver into Screw

�3.8: �}ñ�ä�� i hT² 7/6 p g���¥m¦

16

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3.2. LEGO��g���� X ��� ( ½ ¦�p8� ����!��®G¯ �

3 � � �s� j����

�3.9: LEGO

� Ð;Ñ �

3.2.4 µ�¶������³ �;&�� 8��;°IÞ ª=d�3f E1.Ì °;ÍmÞ EMR-8 i î�9 ] � EMR-8 i?S 0�6 p;f Ï ����� ���V­ �� ���iª l E

2.Ì °uÍZÞ��º�û 3f LEGO

� Ð;Ñ � i���� 6 p E3.Ì °uÍZÞ���� i�� ( LEGO � g���� X i ª l E

Ì °�ÍZÞ������ � 7?-�o��! LEGO � � ­ � �#" ï ( ��$ X ÞO�u° i&%�' 62p 8)(+* - $�E f,!Og���� X&- �/.�(Wh)²#- � ­ ��o Ä Î * -/0W-« X Ö1!sÌ °uÍ132 o � ] $ 74 l �65 � iUS 0 ] X g6��� X i87 l89 l6( Ù;: ] f Emû�* ()!&<= � 7?>@0�A8B �)C�$ g��&DFE i87HG f;I (KJ�! ����L�M�N � ] !#O 7 o)< =QPSR* �/T 0VU�f * - $ 92l6( ] f E

17

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3.3. ��� � �� �3 � �S�����H� ��

3.3� � � � �

3.2 ���8� +*����� 5���������� p ���U8 ! ��� ��� � �"!$#�� p&%

3.3.1 EMR ')(+*),.-0/214365)(87 9:3EMR

R *; �*<�>=?����@�A JCB�D�EGFIH4JLK�MON�PQE ��RQS�� 5�� ECTQUV @ A8XWX= % � 5����Y�$Z�[�\�]Q^`_ E � 5����&a �.b ] \ =�cId6eX� Z&f:g hXikj;5l6m i b ^On�o E W�=qp`r ZQs �ktC�u ^G���v� 7HGQ� N�wCx�y�ECM&z ZG{v|"}��\ %�~ _ 8 ^ EMR ��� � E f$g hIiGj � l�m i � 7 \Y^Qa ��� �k�`#�� = %a ��� J ^ ��� E&����TIy �������Y� (saccadic movement)

E�Y� Z��`��^C�X�� �k�I�Q� = _ � Z��`���O�I� E = _ � w 8�TI= %C� s���^ a � E T�y � �C� ���M � �C� 8 � tC� 2 � � E ��� � �G�X\ = _ �U8 ^ f`gQhIiGj � l�m iQ�" ¢¡ %£ ¤�¥Y¦ §�¨C©Yª «I¬�­ ��Z[�® = DQ¯ �Y��° � ��#8 99[msec] ±�² ��a �³�Ib]Q�O� b ]Q\ =?´�µ [17]

w W�= w ^ 150[msec] ±Y² �&a �.��b ]Q�O�I�`® = _� w�¶�·¹¸Cº�� 8XWX=�� \³¡ A�» · WI= [18]%

£ ¤�¥C¼�½�¨C©Yª ¾ �Q¿Y� E �QÀ Á � � ^ WY=q�QÀY±Y E&ÃCÄ � �QÁ � �kaÅ`Z�ÆtO��Ç | N 8YW �È^ x�y w @�A �GÉÊ��Ë � ¡ = TYy � ÇCÌÊb?� ��� 8�W�= %�Í­ Z�[�® = Å�Î ��À � 5[deg/sec] ±XÂ6� �C� bÏ��´�µ [19]w WX= %

s�Ð ^ �����C� E ��� � ^ � s��Èa�Å E �CÀ � ���Z"����Ñ�f�gChYi"j � l�m iC� �Ò �&u ^�Å�Î EG�Y�ITYy (aOÅ EQTYyO� �O�

)�qÓv| � f:gQhYikj � l$m iC�� 0¡ %

3.3.1.1£ ¤X¥Q¼�½�¨C©Yª�Ô�Õ�Ö�×ÙØXÚXÛIÜ&ÝCÞ�ß�àkÜ

±� E ��� NXá 8 ^ EMR-8 â�ãÙ ³ãÙ��� Å RYS���� � E f>g�h�i�j � l6m i�� ä¡ %å�æXç è é ÅIÎ �X� � EOê�ë � ��ì ë � � = MCí 10[deg]

E�î � �I��ï:ð � � = %�I�Yï:ðIñ Z�ò�óI� = ÅYÎ �I� �Gôv��õ ¸ gkö ��÷���ø � � = % _ E�NIá �ê�ë � NIá �ÏùQú %û�ü�ý�þ ²�8  $ÿ �6= E 8 ^ DQ¯ â�ã aCÅ c�d s 8 E���� ý 50[cm] �IÀ#8�WX= %�Y� ï�ð�EXîEOM�í

10[deg]ý ^ c�d����8 ý M�í 8[cm] � À EXî ���X= % _ � ý c

18

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3.3.�ΠE �Y� �

3 � x�y�E �ΠE �Y�

d E������ ��� õ ��� W�= %s � ^ ��� � � ±I E �$¡?Z�C�Y� = %

����� êIë � N�á Z��:�qõ ¸ g"ö �I÷v��ø � � ��� Å�Î ��� � Eê�ë �êIë � N�á Z�� = Å�Î ��� � E f:g�hIikj � lvm i �¹ `Ò � % .ã�������� ���� � =&�Xt ^ û�ü ì E������ �� �! h#" E ��$ �&% $ b ] [ � ^�% $�' �k��\Y]�(� �Qf`gQhIiGj � l�m i bq����� �&) � ��b ]�� � � = % ��� ��* 3.1Z+�� %

*3.1:

f$g h�iGj � l�m i E �,�Error1 Error2 Error3 Truth Total

Selecting State 6 5 12 59 77

Working State 4 3 8 48 60

*3.1E�-/. �k� = %

Selecting State 0�1�2 ] û�ü �¹  ¡ ��t E cId � 3 b ]�\ =54�6 (3�7�8 4�6 )

%Å�Î ý�þ ² Z WI= LEGO

E \QÐ ��â Z �I� b ] \ = ( 9 8 4�6 )%

Working State LEGOE 0�1;: ® û ü �� �Ò]C\ =<4�6 ( 0�1=: ® 4�6 )

%ÏÄ Ò]Q^B (�ZLEGO

�5>�? b ]Q[.�È^ �$�&@BA E�C�D ^Å�Î ý�ûYü cId Z ��� b ]\ =�EError1

�ΠEGF � T ( �Y����� )Z ����w�HJI��LK =M " ��E

Error2��� b ] \ = w�HJIJ�NK � \ M " �#E

Error3õ ¸ cYd Z�O�P/Q E��Y��w;HJIJ�RK =�M " �#E

Truth S�T Z ����wUHVIJ�RK =�E� ìW�Xk� I Y =�E � [�^ ²[Z � � ý x�y�w ( � �& >Ò[\ E•ê�ë � NIá Z��`�^] ã K \Cf`g hXiGj � l�m i E � ìW107 ÷ 137 = 0.781022

19

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3.3.�ΠE���� �

3 � x�y�E �ΠE����

• “Error3”X M " � Z�Æ t � \ C�D�EQ� ìW

(107 + 12 + 8) ÷ 137 = 0.927007

•����wUHVIJ�RK � \�W 8 ÷ 137 = 0.058394

±�² E ����â6ã ^���( á � ý ^ 70 � (Error3X�Æ t � \ C�D ý 80 � ) ±Y² E�� ìWJX] = _� w � � \ E s,\ ^ H�IJ�RK � \�W ý 6 �� � �q\³¡���� �G��� X] =_� w � � \ E

3.3.1.2£ ¤X¥�¦�§�¨C©Yª�Ô�Õ�Ö�×ÙØXÚXÛIÜ&ÝCÞ�ß�àkÜ

3.3.1.1� ] ã K \ �[� Z&^ aÅ EOT�yC� ��JX ÇOÌ Y = E � s���^ ê�ë � N�á �fgQh�iGj � l6m i b \ u Z �Y�XT�y ZX� = f:g h�ikj � lvm i[X" 0¡ E�� 3.10

Z������� ZG[�® = ���IT y EG��� X<+ Y E · Ò�� ·����� À E�! \ ����T�y ý 200[mse]� W ��^�"�Z ���# À w$! â Ò;\ �Y�ITYy ý 167[msec]

� W Ò;\ E _ K ã E ��� ý Ä% E ´�µ [15][20]� AY» � K ]�\ =5��� ��õ�& E ��� � W ��^Xs�\ x�y�w aQÅ b \c X('�) Y = \ t Z+*�,-� �NK = �Y��TIy�EO¸Cº�� Z+.�ÿ K ] \ = � � · õ0/ � W=�E ���XT�y�E&¶21 � ^ ¶�� � ^ H#3 � ^ ��4 ^�5���627JX�* 3.2

Z+ Y E

� 3.10:Å�Î98 ���XT�y����

20

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3.3.�Π8 ��� �

3 � x�y 8�Å�Î98 ���

*3.2:

���XTIy 8 ��� ���T T

(Excluding Working State)

Min 0.033 0.067

Max 3.3 1.3

Ave 0.48063636 0.390205

Var 0.21213034 0.092166

Stdev 0.4605761 0.303589

*3.28

T′ýû�ü ì$8 ������y X����\ �,� ���� E �� �������JX 9/@ �����

4#6 8���� ��� X���� ���&\ ��� ���� E * 3.2 �! � 0�1�: ® 4�6 8���� ��� 8"$# 3#7 4�6 8���� ��� �% · ��� ��� #�& ��')(*���+� # ÿ â � E 0�1�2�,û�ü ì ý � û�ü ���JX & � �.- Å Y ��\�/=���� Eê�ë�0 " á *21�3 Ñ5476�8$9�:�;%<>=?9 8 ���@�7 � 0.167[msec] A�B # ���9892.7 � XDC�/ , ��\ E�EGFH, �JI � 8 ����K!�MLHE % 8ON�PJQR �% � 0.167[msec]X

LEGO8MS�TU ,2V�W * K$X �Y��� ��� 8�1�Z.[ ��\��+�8O[ AB 8O��� ��� 8���JX -H] ��� \ E ��� ��� XO^J_`� \H4%6J8�9?:;D<)=?9�8�QRVX?a 3.3

*Ob Y Ea

3.3:��� ��� XO^�_`� \J4%6�8�9O:�;�<c=?9�8�Q�R

Error1 Error2 Error3 Truth Total

Selection State 4 5 8 52 64

Working State 0 3 7 44 51

d�e?fGg?hGi�j ��k• l�m 0 "�n +

��� ��� * �% po`qsrDt 4G6�8�9�:;D<c=?9�8 d$e?f96 ÷ 115 = 0.834783

• “Error3”g�u!v ;$*xw)/�yH�Hz{ 8 d$e?f

(96 + 8 + 7) ÷ 115 = 0.965217

3.3.1.1 |2} / t Q�R �� ?~��O� yOQ�R # o�q�r�t kx�!�$�� ,� � Error1(]����

��� �( ����� � )

*M��� #2�%i%� r � u!v ; )# ��� ���� 1�ZH[�� | ��xz�{#J��� ���2���J�$y u!v ; | ���+�� # ^!� q�r ��k ����� � ����� *��H��y � �

| �� t /2�2�������*O� ��+�� ��� y.��  q¡| ��2k

21

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3.3.]������� �

3 � � ����]�G�����

A�B � QRD  q � ]�%� ���� � K7�5LH���� � � 1�Z.[ g� � t 4G6�8�9?:;<!=¡9 # ��� y ��� | ���+�� # b�� t k�� ����� n * �$ EMR-8  q o�q r

t ]������ ;�� g -.] ��� K!�5L -.] � ��� � ;���*�!�" j$# +�� # �H�@�5y F.t k% * & -H]�')( K!�ML -.] � �� � ;*� g�)+ , & LEGOS�T�U ,2V�W * K�X #]�%� ,�- gM�%i�j.# k

3.3.2 /1032547698;:��< � LEGO

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3.3.w ^ ¨ _�` �

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5.1.1.1 9 � ���������������������! 9 + » �%,�- !/"a$[& ��» ��¼ ` �#" �#�[�(�tJ�$&%*i('!) q+*>< Ñu® ��¼ `[à Ä× m�X�Za��i���» �8¼ J#,��&-(.0/ [24] × " ©���Ñ8�218­�»#3 � &�4 [25] q[¶ rµ Y X�Z��» �8¼ J ��� i � Å65���� q � r µ Y X�Z•�B�C» �75�» � ,Î- ���[� & ¡�28 ` 8 9 i�» �Á,.-�: < ;=<(> i�5�7�3 ' $#% 8 9 i5�7�3�i : <�? K À s@ ACB qED�F g ©0G�i < ×IH�Jn'�H � KCLai�M Y!N�O r;­W® qQP ��² X�Z

• = ­ � � �< �p�SR q ��Y�T *.< ÑO® �8¼�UCV» �Á,.- D�F J = ­ � � ��< � �WR�` �I"YX Y © 280 Z 200i NCO A!B q[*�<ÑO® �8¼ `]\!^ ² X�Z (15[fps]

K À 30[fps]ª × )

•¥�¦_5�5C7�3 �a`b ­Cc�J ?

� i�d!ej`B¨ Å � Å�`1¥�¦�`�5�7 3�i ��` q ² X�� 'γ�×af X#Z�ªT » �Ë,.- �6» ��¼ ³(g�Y�80h�× M]i�B A i NCO A�B q \2^ ×af X0jnÅ�`�©�kÖ N!O qSl#mOg ©B«CnWi 8 9 i!o�p�3 q2q nn` V r X�jnÅ�` g T ZQs `2t %0uy � ×�v X�Z

5.1.2 w�xzy {&| º }��i&~������Yu(�C��� � µ 2 9_� 7 ���Q� (DOFs) � PA10~��������6­ ¼

( �C��a� . /) �S��9��#�]�[���Q� u_~���������� � ³ 3 ���0� h �E� �Iq�� ( �&  ¡£¢¤ �!¥ × ) ¦ t %�§]¨�© � §]ª «¬5 H � ×av_­ � ½ h ��®#��¯ ¿ " §2°��C± ¼ ��²³ §�´ ��µ ²[­ ~E�¬���¶�[� � ³2· " 9 r µ v�­ �¹¸ �&°»º��[§]G2¼�½�¼ 4 ¾ ° 3 ¾

� ´ ����9a�]¸a® u�½ h ��®I�Q¿�À � T2Á_h] ~��[���Ã�[� � ×av�­ �5.1.2.1 Ä Å!Æ�ÇSÈ�ÉËÊÍÌÎ�ÐÏ ( Ñ�Ò )

Á#h �EÓ �&Ô�Õ(Ö#�(¿�À[�2Ô�× ±�Ø_§ XÚÙ TaÛ §�° ¸a® § 9�Ü Ý u Á_hE � ���Þ �!ß�à � T �]á_â � �2ã�ä � Ô��aå�æ�¯�ç ´+u�è�´Ð�6é ´ ��ê � Û Ý 1 ¾ ���Q°´ ��¾�ë u á ì&í 4 ¾ ��� Ý v�­ � ´ �]îIå�ïI�]ð ¨�§CuEñCò�ó�ô � ´ å(ï�õ �_ö÷¬øEù ±¬ú �Sû�õ �¹°2´ ² §�u BL ü ±ý�ÿþ���ö�� � 6 ������� �� (NANO � ��) � ·� ��r Ý v�­ �

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5.2. ������� s�� Ô þ ×C�0ßEà 5 3 �0��� ����� � Ô þ ×������

5.1.3 ���������� u3 �0�0� h�� í ~��[��� �!± ×���� ¨ t! �"$#&%('*),+ � � o ã ±�- ­

�����/.10 -�2 Û*3 ç ¼ Ý!Ü ­ � Á�465 ® 367 � - ­ ��8C§�°:9 âI�/;=< >:?C�#¯çA@ ­ 2 Û §&B � ¨ ¯ - ��C ¼��ED�Fa§�°]� 5HG ¯�>2Ü � ��I2í 3 7 � - ­ ��8�§J ����� � K�L 2 NM1O�P 2 - ­ �=Q �[���7§6D ;R>�S �[��� 2HT ­ 2 Û §�U <JHV6W!X�Y ¨�Z S\[6] [26] �/^1_ �`2 �&����[ ] § # Q �+��� J â�� M O�P 2 a Q � � � Y ¨Ë�b2 í 8 ­ 2 Û ° ����0 367 ÔHc ± Ô_� ¨ed_§Ef�g�- ­ � � 5 í8 ­ �

5.2 h i j k l m n o p q r s�������6t � Ô þ ×�í J ° � �1u!vEw�  § # �6tyx ¼z2 �6��{ | � Q:} ��� �

9 ~�Ô þ�� ü '*)(+ � �/��õ - ­ � � í ° ��� � ÝCÜ ­ 9 â 0��6���1�=� § "���­�����_ I�/�Rv - ­ � � 5 í 8 ­ �

5.2.1 EMR-8 �����5.2.1.1 EMR-8 �:���� � Ô þ ×�í J ����u�v*wa ��\�QÝ °( � ) � �Sö/�e�E� ) þ#ö6� Q ) � ���� ~����� 6�¡t�w6¢�£ �6¤��_öe��¥¦�§

:EMR-8( ¨ 5.2) ©�õIÜ(ª�« EMR-8J ¥�¬�� Q � äWì��®­ � Þ°¯1± �[� ì² ç³� ´�x¶µaÝ!Üeª*«b­ � Þ°¯1± �+�ì=· J ���*� ) � ¬ � �®¸�¹¡º 5 � ÜÝ " ¼» ¸�¹�º 5 ~:�¡½�¾�© �z�*� )� ¬ � ·¦¸�¹��¼¿�t,x T�2 � í » ?�À¸�¹ W Á · #&P Ý �e�*� ) � ¬�� ¿1tÂ�à · "=� ªH~¡� ��Ä ¢�©`¿�t - ªH« ¨ 5.2: EMR-8

ê 2 ­ � Þ°¯�± ��� � �/Å · J » ��Æ\Ç � ä ( £ � ¤6�¬ö Ç � ä ) 5 w�ÈÉx¶µ_Ý "¼»�Ê £�Ë ú*�eÌ · ¯ � Í � �\Æ � Â�à ©`¿�t��¹ÝCÜ!ªH« ¥�¬Ð� Q � äSì J »�Î µ

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5.2. �������6t ���!þ�Ì � ßEà 5 3��� � ����� ���!þ�Ì � ���

ç ��� �$©� �� »��� ����� Ê�� � �e� + ¬ · #:P�� � � {1| ������� æ,©��� ª:« Î ������� æ�·���� � � � � W�X ©"!$#�� » £ � ¤ ��ö Ç ��% Â�à ·¡C � WX 5�&�')(�* x µ�ªH« �,+ ¼» EMR-8².- �/ í 8 ª&{ | J » EMR-8 ·�w�0 xAµ

� ��ª:£ �1¤ �Iö Ç ��%�132)4 x µ 2 Â�à ���e�z· "=� ª 2��� � �1��5 1$6 ªH«

5.2.1.2 EMR-8 �87:9<;�=?>[email protected]�e�*� ) � ¬�� · #*P3� ~:�=©b¿1t - ª�F » ~H�Ú¡ �e�*� ) � ¬�� ¡ £ �6¤6�#ö Ç��% �HG 4 d >3I ��Ä ¢ �KJ J�L M 1,6 ªH«�C � 2 � » ��� ÊN� � �PO + ¬ · #:P��» �!��� )�Q ¬�R Â�à · "=� ª x, y

W�X3S � ~¡� � f Ä:T � � � #VU x µ(ªXW\Æ? �&£ �1¤ �CY Ç ��% � Â�à � �e�z·3Z � ªK[�W$\ Ä ¢ �3�����]J ©K^�_ » �)� Á© / ª�« � � ÊN� �A�PO.`&¬ � J »H/ - µPa ��� Á ©,b��E·�~:�¡¿�t)c�d ²e- W�fW�X ©g8h�i$ª Î �]j�k�l �]m�ªH« Î ��� � ÊN� �A�PO.`E¬Vn » ( � ) oqp YE�!�H�rHs�Y1��tVr:�Vu ·$vHw �3x�y x µ�ª�zV{}| �POq`�¬�1$6 ªH«~���� m � � ÊN� | �PO.`&¬�8� ·3��� �� _�ª�« +H� ���8��� ·]��m�� � 1 �� ©K�)� � » EMR-8 ­�p�� ¯ ± p � � £ � ¤��CY Ç ��% ���)� j�� � ·���e·�m�ªv<�b· ¯ � Í ������Ä ¢!©3# � ªH« Î ���3�¡� £ � ¤ �?Y Ç ��% � � ��� �V�)� ©� � Ê�� | �PO.`&¬ �)���¡ �¢ »8£ � � � © ��� ÊN� | �$O.`E¬ � �X �¤ Î � ·�iª¡« ¨ 5.3 · * iqv.� · » £ ��¤ ��Y Ç �,% �  Ã�¥ ¦P§ ¨ 1 ¥�¦ 5?j3© M:ª 9 �ª [�W,\�«<¬�­�®<p � © ���8��� ª ��� Ê�� |�­ O.`�¬ � ·¯ 4±° » ¯ 4³² µ$a�\´3µ ­ Í j�[VW ° a8F ª)¶V·Pª W\Æ8¸ ´ ¿,¹8i�º�» Ρ¼ - ª ¥�¦ 5 �P½ - �)� Á ´¾ #)i�º3»¿HÀ8Á ­ Y Ç� % ª Â�ÃV¥�¦,§Pà Z:Ä�º ¥�¦ 5 � [VW�\ ª �]J ´"Å:Æ i<º�»�Ç 5.4à * i�v�� Ã3È�µ ­ Í,n \ P

´ [HW ° a � i<º�» �8� ÊÉ� |�­ O<`¡Ê � à Z�� � n ÈË ¶ ª [�W)Ì$Í n PR

ÃVÈ3Î ¶�ª [�W�ÌPÍ n PL

Ã�Ï ¼ º3» PR

ÈPL

�¡Ð  % ��Ñ C´ c ¤ �Vf � ¿VÀ�Á ­ Y Ð Â %KÒ�Ó � � ª�Ô \ CR

ÈCL j ¿HÀ�Á ­ Y Ð Â % ª Ò)Ó¥�¦:§:à Z?Ä�º ¥ ¦ 5 1,6 ºV»?Õ ª�Ö ­?¬�j EMR-8½ -×3Ø ² ¼ º 2 Ù Ú ªVÖ ­

¬ 1$6qÛ È RS232C Ü�Ý 1 30Hzª R�Ê3ÞàßÊ8á]â�ãCä

PCÃ3å ÛçæPè ¼ º�»

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5.2. [�W,\)g8¹ O���s�� ª���� �5 3 Ù�Ú�W�f� � O ��s�� ª����

Ç 5.3: EMR-8 ��� ß�� |N­ Oq`Ê

5.2.2 ��������� �"! #%$'&�(")+* ,%-�.0/�12:� � t43 p � j65�^ ��� ´87 � à n È:9�;�¥�¦$§:à Z:Ä�º[VW)Ì$Í ´8< × i�º=�> j@?,ºH» ° ½ ° È EMR-8

½BADC"A ¼ º Ö ­?¬ n È6E�F ² ¼@G�H º ¿�À,Á ­ YÐ Â�I ª Ò)Ó ¥ ¦$§:à ZCÄ º ¥�¦KJ ä ?,º�» ¿VÀ�Á ­ML Ð Â�I ´ ��� ßN� |X­PO `Ê i<º�Õ � ä È ¿HÀ�Á ­QL Ð Â�I ¥�¦:§PÃ�R Ä�º 3 Ù8Ú ª [6S�Ì,Í ´�å C ä � º3j È��� � à n 2$� ª ��� j:T HKG °"è �Aa�U È ¿VÀ�Á ­QL Ð Â�IPV � ª ÌPÍ WYX[ZPj\�] i<º�»�^?w G È ¿VÀ Á ­QL Ð Â�I ª Ì$Í W_X�Z ´a` º =�> j�? º�» £ Õ ä È t3 p � ª 9¶ ��s |Xzcb rcd]Ê ´fe �8i<º3» EMR-8

à Á ­ Ð ­ ´8gih ° È t�3 p �j Á ­ Ð ­ ´fj�k i.º�Õ � ä È Á ­ Ð ­ ª Ì$Í W_X�Z ´ml C i<º�» èin È ? A"½poU Á ­ Ð ­ � ¿VÀ�Á ­ML Ð Â�I ª Ì$ÍPqar ´as U G RBt Õ � ä È�u v$à ¿VÀ Á ­wLÐ Â�I ª Ì,ÍxWyX Z ´8l C i<º�Õ � j ä � º3»�Õ ª v�� à ° G È EMR-8

½zA{C�A ¼º 2 Ù8Ú Ö ­C¬ ½pA È�9�;�¥�¦$§:Ã4R Ä ºa|6S)Ì$Í ´}s U�º�Õ � j ä � º3» ~ ¨ ª�[� ´ è � U�º � È Ç 5.5

Ã}� i.v<��m ¥ ¦ \[� j =�> ä ?�º�»1.Á ­ Ð ­ ¥8¦ (Marker Coordinates)

½cA 9[;H¥8¦(World Coordinates) � ª ¥¦ \[�

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5.2. | S��)g8¹MO ��s�� ª���� �5 3 Ù�Ú�S��� �'O ��s�� ª����

Calibration Plane

Eye BallCamera

Image Plane

Attention

Point

Data from RS-232C

Eye Ball

P

L

PR

CR

EL ERC

CL

PL

Calibration

Distance

Ç 5.4: EMR-8ª�� �

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5.2. | S����8¹MO ��s�� ª���� �5 3 Ù�Ú�S��� �'O ��s�� ª����

9Eye Stereo

Vision System

Attention

Point

Camera

Coordinates

Marker

Coordinates

World

Coordinates

Ç 5.5:=�> m ¥�¦ \[�

2.¿�À�Á ­ML Ð Â�I ¥ ¦ (Camera Coordinates)

½ A Á ­ Ð ­ ¥�¦ (Marker Co-

ordinates) � ª ¥�¦ \i�

3.¿3À�Á ­@L Ð ÂKI ÒVÓ ¥�¦�§$ÃaR Ä�ºf|4S�Ì�Í (Attention Point)

½cA ¿3À)Á ­L Ð Â�I ¥�¦ (Camera Coordinates) � ª ¥�¦ \[�

Õ ¼ A ª ¥�¦ \�� à v Û È�9[;V¥�¦$§PÃ�R Ä�ºa|6S�Ì,Í PW

n Ù ª�� ä��ಠ¼ º3»PW =

[

RM TM

0 1

] [

RC TC

0 1

]

f(−−→VCR

,−−→VCL

, MC)

(5.1)n��.° È0 � 1 × 3

ª��� L���� ä ?�º�»Ù ÃHÈ � (5.1)

ª�� ¥�¦ \[� à � H�G�� ° tAÅ?Æ�� º3»

5.2.3 ������� ��� =⇒ �������Ç 5.6

à � 3�� � EKF ª 9¶ ��� |Xzzb! d�Ê ½pA C�A ¼ º Ò)Ó ´m��� »

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5.2. | S����8¹MO ����� ª���� �5 3 Ù�Ú�S��� �'O ����� ª����

M1

M2 M3

(a)Ð I�­ Ò)Ó (b)

�8� Ò)Ó

Ç 5.6: 9¶ ��� |Xzzb d�Ê ª Ò)Ó

è � È ? A¡½po U Á ­ Ð ­ ª � ´���� ° G RBt » Ð I�­ Ò�Ó ( Ç 5.7(a))½pA È��

� ° G ?�º Á ­ Ð ­ ª ��� � � á I � � q ª�� H ��� ´�� Û × ° È Õ ¼ ´���� °G ?,º Á ­ Ð ­ ª ��� ��� ª�� � ²��� ���� � º �! ª�" ´#� Û × ° È%$'& ���ª)(+* Ò)Ó

( Ç 5.7(b))´ C º�»�Ù ÃHÈ I ß�Ê)á W-, �/. ­�� ° G ��� ° G ? º�,� Ã�0+1�� º�2)3 ä ? ¼54 È Á!6 Ð 6 ´)7+8 Ä n 2�3 ( Ç 5.7(c)) 9�: È!; 3 Ò8Ó ´Á � L59!: G 9

¶ ���<>= b! dÊ 3�?+@ Ò)Ó ´ Á � � Ê8á � º�ÕA9 ä È 9i;�B�CD:Ã:R Ä�º%3 Á!6 Ð 6 3Ì,Í/9 X�ZFE C º�ÕG9�H äAI ºH»

(a)Ð I 6 Ò�Ó (b)

(!* Ò)Ó(b) J 6 Ð 6 Ò�Ó

Ç 5.7:Ò�Ó �[� 3 K!L

J 6 Ð 6 B�CGD E�ÙA35MONQP%R�S �UT�V J 6 Ð 6 B�CGD � 38 3�J 6 Ð 6 3�W Ñ

MG E � �X9':ZY�J 6 Ð 6 H�[ T \ ,A3�] � L � �OE ZM ^ 9':ZY −−−−→MGM1 E YM

^ 9 �UT V�; : G Y XM ^ ��Y YM ^ 9 ZM ^ 3�_%`a3 ^ 9Qb Ô �cT ^ 9 �OT�VJ 6 Ð 6 B�C 3 9i;�B�C �G3 \[� 7�d ��e%f 7�d RM 9 \67!g T L���� TM hA�i T%V69�;�B�C�D P Rkj�T J 6�l+6 3 B�C�J ��m ` ä ? T 3 ä Y RM 9 TM � s

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5.2. | S������MO ����� 3 ��� �5 3 ��S��� �'O ����� 3 ���

è T%VJ 6�l+6 B�C�D ä �������Pn � PM ��Y'e�f 9 \ 7�g T ä 9�;�B�C�D ä � � PWä������ T 9 �cT 9ZY B!C \i� 3Kqmr � ��Y

PW = RMPM + TM

=

[

RM TM

0 1

]

PM (5.2)

����� T�V

5.2.4 �������� �����Q��� =⇒ ������� ������ J 6 L l�� I B�C h A J 6'l+6 B�C �53 \[� 7�d E s U T n U!P%Y�� 5.8 P��� MON i ��� ß��c< 6 O d�� E 7 N V

9Eye StereoVision System

EMR Camera

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� 5.8: ��� ß �c< 6 O d�� 3�� �

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5.2. | S������MO ����� 3 ��� �5 3 ����S��� �'O ����� 3 ���

(1) EMR-8 (2) 9 � ��� <Z= b! d��� 5.9: EMR-8

l � I59 9 � ����<Z= b� d � 3����� 3 � � EiF 3 9 � � �c< = b d � 9 � � J 6 L l�� I 3��!P Y � P u o J 6l�6 H 8 H�GiH T��� � l�6 3 6�� E�� t�� 9��+Y�_%`53 l � I�E u[v Pi����� �< 6 O d � � T�� 9#H�� I T�V � 5.9 P � � McN>P�Y�_�`F3 l � I h A u o �� �l�6 3 6�� E������ ��� 6 �UT�� 9�H�� I T�V�� 3 � � �"! < 6 O d � P M$# G CA � T&% I ��6(' 9 9 ��) ��<Z= b! d�� h A C�A � T J 6�l�6 3 B�C�J h A ~�*3 B�C \�� 7�d H C�A � T�� 9)P i T�V

• J 6�l�6 B�CGD h A 9i;�B�CGD ��3 \[� 7�d MM→W

•�� � l�6 3 6�� B�CGD h A � � J 6 L l � I B!C�D �G3 \[� 7�d MCB→C

•9i;�B!C�D h A �� � l+6 3 6�� B�C�D �G3 \[� 7�d MW→CB

^�# G Y � � J 6 L l�� I B!C D h A J 6!l�6 B!C D � 3 \6� 7+d E MC→M 9 �T 9+� � H$,.- �cT�V

I = MW→CBMCB→CMC→MMM→W

MC→M = M−1

CB→CM−1

W→CBM−1

M→W (5.3)

n � : Y I �0/21 7�d ��? T�V�

(5.3) M43 Y � � J 6 L l�� I B'C�D h A J 6 l!6 B�C5D �53 \�� 7�d H s(5T�V � � J 6 L l�� I B�C 3�J 6�l!6 B�C ��3 \[� 7�d ��e%f 7�d RC 9 \67!g T L � � TC � � � � I T 3���Y � � J 6 L l � I B!CAD � � � ���n � PC ��Y�e

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5.2. | S������MO ) � � 3���� � 5 � 3 ������� ���) � � 3����

f 9 \��!g�� ��J 6�l�6 B�C�D � ��� PM � ������ T 9 �UT 9QY B�C���� 3����� ��Y

PM = RCPC + TC

=

[

RC TC

0 1

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PC (5.4)

� ����� T�V

5.2.5 �! #"%$ =⇒ �������� �����'&)(EMR-8 h+*-,!* � T 2 ���/. 6�' h+* � � J 610 l ��2 B!C D P�3 j�T B!C/4 E5 ,�6 T V

5.2.5.1 7�8/9:<;�=?>?@�A/B1C�D�EGFH:'I+JLK2 � ����� hM* 3 ���/N�OFE 5 3QP 6 P/R l ��2 � � �"! < 6 �TS � HVU�W �YXT�V l��Z2 � � � ! < 6 �TS � P� 6 T\[Y] R_^G` P �Ga �Yb 3 3 Y�cGd!3�e!]AHf/g ��Yb�h T�V � � J 6G0�l �Z2 3�� � �+! < 6 �+S � PR�Y i/j�k�l : h e+]��X T Zhang[27] 3�e+]OELm h T%V Zhang 3�e�]1R�Y n/cpo \�q Esr�m 6 T HVt \q�uYv P�w/x�y?zY{1|L} R 6 TV~�� Y 'V�Z���M� |G����P_}'R��<��Y�i/j<k��?�kP� � �+!�� � �TS � | ���&�<v�� �<� T1v h � � � �M� � X T�V� o�� � �+!T� � �TS ���Y� # b ,#* � ~Z����% 2����4' α(= sx

f

dx) � β(= f

dy) �

u0 � v0 (f ���?������ dx, dy � ����� �Z� � sx � ����o���Zi ) |�m h?b � � ���/�'0 l�Z2 ��� y?z<{ � 3 j�  2 ����y�z 4 CR(XR, YR), CL(XL, YL) R � ���?�'0 l ��2y?z1{��?R$�Yo � � � 3 ����¡ 0#�£¢ v�¤ bV¥�¦¨§ª©  �«

−−→VCR

= (XR − u0

α,YR − v0

β, 1) (5.5)

−−→VCL

= (XL − u0

α,YL − v0

β, 1) (5.6)

49

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5.2. � �������p� )�� � o���� � 5 � 3 ������� ���)�� � o����

5.2.5.2 7�8/9:<;�=?>��� ����������������Z;�����A���������Z�p0! �"<2 yZz'{ � 3$#   ���¡ 0 �£¢ R%�/�Y�Yo�&�' �1� # b!($)   «

� �Y��o%&!'GR+* *�o 2 , �%-/. * ©  �«01

1 2�3?o����?¡ 0#� ¢ o%4?�G|5� ��� v 6  V«�%�?�?�G06 7"Z2 y?zY{ � 38#   � ��1�91R �23�o+:�;y?z�o 179 �<� 3 �<5.10

�>= 6 � � ) ��� �<�@? b+A 5< �«CB o���� � , h?b@D ¤�EGF8H 6  �«

Calibration Plane

Eye BallCamera

Image Plane

Attention

Point

Eye Ball

θ

f

L

PR

CR

EL ERC

CL

PL

VRVL

n

Calibration

Distance

PC

<5.10:

7"Z2 y?z1{ � 3I#   ��<������Z�p0 �!J �IK o7LNMPORQT� � �TSTS�o���+| L � �����?��0% C"<2 y

50

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5.2. � �������p��������o���� � 5 � 3 ����� ���������/o����

z<{ � 3C#   2�3�o ��9G| ER � EL � �6���/�'0 �+J � K�� *-, * ©   N/Op|CR � CL ��2�3?o_��������¡ 0)� ¢ | −→

VR � −→VL

v 3 Eª« &%' 1��� �+����� PCR −→

VR

v −→VL o%4?����X  V«�C?Vb � �����ZX   L � ER � EL � CR � CL

� * −→VR � −→VL | ¥ 6 BZvQ� ��� ©��

� ��� � A��  NB�v ��)   (B�B �/� ER � EL R����'oVN/O v?¤ b��/? b/h  � � ER � EL o���&���� � , h�b R� �! )

«−→VR � −→

VL o#"GP$�%�1R�&(' ) o���� B�B ��R −→VR

� , h�b o�) FIH 6  V«−→VR R*�#�Z¡ 0#� ¢ ) o+�/�

−→VR =

−−−→ERPR

|−−−→ERPR |

(5.7)

v ¥ §H©  V« � ~ � −−−→ERPR R < 5.10

� * �−−−→ERPR =

−−→CPR −

−−→CER = k

−−→CCR −

−−→CER (5.8)v ¥�¦ �Y�  V« −−→

CER R����,��X  �« −−→CCR |��#�Z¡ 0%� ¢ v 6  1v �

k =|−−→CPR | (5.9)

v )  �«B�B �� �+�/�/�'0 �+J � K oL�M8O Q�� ��- SRS�. q o/�����%��¡0)� ¢ | −→nv 6  �« −→n R �+���/�'0@ �"�2 o#0212�43 v6527 6   o2�$���,�X  V«IBB ��� −−→

CPR

v −→n o ) 6+8 | θv 3 E?v �

|−−→CPR | cos θ = L o?����9 v 9 (5.9)

�:� �

k =L

cos θ(5.10)

~<;T¤ � θ = cos−1

−→n ·−−→CCR

| −→n ||−−→CCR |

*�=Zo B�v � * � −→VR

� A��  �« −→VL > &@?��ZX  �« �I?�b � −→VR

v −→VL o+4��'|A �Z BYv � �%�?�?�G0@ 7"Z2 y�zY{ � 3I#   ��A2�79 PC

� A,�  V«*<=�o BYv � * � PC R#Yo��_c�9 �<�+?b�¥ 6 B<vs� �Y�  V«

PC = f(CR, CL, ER, EL) (5.11)

51

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5.2. ��A������ - ������o���� � 5 � 3 ��A������ - �����/o����

� �#���GoVN?O v�¤ b/h ~ �!�Z�?�p0% �"<2 y�z'{ � 38#   2N3Zo_y�z 4ER � EL o��7&��<�p| FIH 6  V«2�3/o@� 9YR �+�/�/�10 �6J � K o�L�MIO Q�� ��- SRS ����¤ ~ Z��w�x�yzY{ � 3 h�b �%�1o_y?z ��X   c �'|5�*A 6   B<v � A �Z �«FIH |���� � 6  �~�� � � < 5.11

��= 6 � � � w/xy?z1{ � 3I#   �%�1o_yz�� P1 � P2 o 2 �Y|>�/A ¤\~�v 6  �« � ~ ����3 ��� ¤ b o#) F�H |�� � «��3 ��� ¤ b > &('ªe���� A �Z NBYvs� ���  V«<

5.11� * � −−−→P1PR1 � −−−→P2PR2 o64�� � 3��<o � 9���X  <v�� &��Z�  �« P1 � P2

�� ¤ b Rsy�z����p| � � BZv ��� � � �+�����Y0@ "?2 y/z<{<��o�y/z � A�� �« � ~ �7L�MPO QT� �,- S�S o���� L

v �!�Z���p0 �%J �CK2� *H,#* ©  N�O CR1 � CR2

� * � PR1 � PR2

� A��   o+��� −−−→P1PR1 � −−−→P2PR2

� A,�  B<v ��) �«�B o�¡ 0)� ¢ o64!�Y| A �? BZv � � �+�/�/�10@ "�2 y�z<{ � 3�#   3�Yo���9�| A �Z NBYvs� �<�  V«

Calibration

Plane

Camera

Image Plane

Attention

Point

Eye Ball

L

PR1

CR1

ERC

CR2

PR2

P1P2

Calibration

Distance

<5.11:

7"�2 y?z1{ � 3I#   2N3?o��79Yo$��&

52

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5.2. ��A������ - ������o���� � 5 � 3 ��A������ - �����/o����

012 A��?¡ 0#� ¢ v��������¨v o%4 �1|5��A � v 6  �«� R ����� o� * � o ��� |�� b/h  �« �� R@; �����%¤ b�h7)�h�� � )� � R�� �1|�� a��� B�v R���� )�h « ��?�b �@&%' 2 o � � � &%' 6  B�v� �<�  �«8B�B �?o�A���¡ 0#� ¢ R < 5.10

�:� ��*��?o � � � &!' ���  V«

−−→CPC =

−−→CEL +

−−−→ELPC

=−−→CEL + kL

−−−→ELPL

=−−→CEL + kL(

−−→ELC +

−−→CPL)

= (1 − kL)−−→CEL + kL

−−→CPL

= (1 − kL)−−→CEL + k

L

−−→CCL (5.12)

&�? � �−−→CPC = (1 − kR)

−−→CER + k

R

−−→CCR (5.13)

9 (5.12) � (5.13)� * �−−→CPC =

(1 − kL)−−→CEL + (1 − kR)

−−→CER + k

L

−−→CCL + k

R

−−→CCR

2(5.14)

�! #"�$ | -/.� Yv �LM/O Q+� ��- S>S���� v �! � o$AZ��� ( 3 � v �*A��� � �?o ��� ) R�%!&�' ¤ h o���� kL � kR ' 1v)(�* �1�  �« � ~ −−→

CEL

v−−→CER o�¡,+ � ¢ o�-p� §/. 3���| -!0�1� 1v ��9 (5.14) o/� 1 2 v � 2 234 E%B�vQ� ���  �« §�5�� � k

L ' k′

R

v6(7* ���  �« �C?�8 ��9 (5.14) 3�Yo� � � (�* �<�  V«

−−→CPC ' k(

−−→CCL +

−−→CCR) (5.15)

B o � � � ��A��?¡9+ � ¢ | −−→CCR � −−→CCL o�:�� ¥?¦ ¤ � B o$A���¡9+ � ¢ v�����;� v o�4��p|6�2A � v)1+  «<������� o$�I9 .>=�? 3�@�A �M�CB�D,E

S ���6?#8�F�G ���  V«��!�����H �79 .I=7? H F7G�� ,�J 8 3 5.3.1 � FIH1� V«K�LNM ��3 ��&�' 2 |�O�P ¤Q~�«!Q�H�R �/|5*�� ��= 1�«

53

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5.3. 3 <�A���� � - ����� � 5 � 3 ��A������ - ����� H ���

1. &%' 1��� J 8 ��2�3 H A���¡9+�� ¢ 3 3 + � ��H 2 �+��� )  ��� � 5�� 364�� �� � 2 �+� H 4!��� ¤ 8���� G  B ��3���� ��2�3 H A���+�H ����9���,�J 8������ � �"!�� �#��A �� %$�&'�( �*) �2"�+�� '-, ' 8�.�0/ «

2. &%' 1 � � J 81) 2�3 H3254�6 � �N& 187�9 � , ' 7 +5� ' -:��J;� -$. 5=<7->1. ��&�? H�RA@#H����-, ' 7�B ""+�����C�A"DE8��F 7 +�8��F �=G�H�%23 H �79 � �7& 1�7�H 3�IKJ:� (7�>

3. L�MKN5OQP �SR @<AUT��V�#3 ) 9 3+�XWZY\[ B D9E S - �XW�� ' ]�^`_ <;8X��*) �������NH �79 . =#?U�ba�c � F#G ��� 7->d = H F /fe R�@�H���� )-g - �XW��+��3 ) A�h�i +j�lk�� �������;H1m � ��nA����%oXp 1�7�>5q1r O5N +�sutv 2"4xw � �:y 7 A�h�i +��zk � −−→

CCR � −−→CCL {|"} . 8 J 7-' )�~%< 5 H i9+��lk�3 ) 9 (5.5) � 9 (5.6) � ��y 7 −−→

VCR� −−→

VCL�@&

' { (7 > ~5~ { ) q1r O�N + s�tv 2"4uw � �:y 7��!�����HK�x� .>=�?8� MC� 1A7 � )�n A �u� PC 3 � H ���� { |} { � 7 >

PC = f(−−→VCR

,−−→VCL

, MC) (5.16)

5.2.6 �����������j���0�#���j�����0���5.2.3

)5.2.4

)5.2.5 {���� . �K2�4��� ����/b~ � { )�� 5.1 ��FQ����  2�4xw ���y 7 n1¡ ��� � F7G 1#7 ~ � ' { � 7�> EMR-8

H�¢ N�£:��@ AQTA� B D E�¤ � PJ � ¥#RH�¦ <Q�1§ 5.12 �3¨ 1�>b©xª�H n1¡«�� @<A�T8�¬�b­�¨ { � 7 F / � e � )¡ h ��® P . �1©�ª ��@�A8TZ� H-¯�°�±�² �3�³/3~ � ' { � 7 >

5.3 3 ´ µ ¶ · ¸ ¹ º » ¼ ½¾-¿ T;��À�ÁXWxÂ�� n1¡x« B5à ÀXÁ�WxÂ���FU� )-Ä�Å�Æ ª { ©xª�Ç nX¡�«:� È1¡É { � 73ÊË�ª 3 ��Ì ¡ h�Í1Î#À�Á�WxÂ�ÏbÐ�Ñ .�Ò >

54

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5.3. 3 �"Ì ¡ h�Í1Î�ÀXÁ�Wx � 5 � 3 ��Ì ¡ h�ÍXÎ#ÀXÁ�WxÂ Ç Ð�Ñ

Robot Vision EMR-8

Gaze Vector in the EMR-8

Camera Coordinate System

Coordinate Transformation

Matrix from EMR-8 Camera

CS to Marker CS

Gaze Vector in the Marker CS

Coordinate Transformation

Matrix from Marker CS to

World CS

Gaze Vector in the World CS3D Information of the Objects

Calibration Parameter

Attention Point in the World Coordinate System

Image Processing

3DTM Coordinate

Transformation

Intersection Point

CoordinateTransformation

§5.12:

nX¡x« Ç��������

5.3.1 ���� ³������������ Ç��������3 �-Ì� ¤"!�#%$'&)(+*-,¤/. (3D Template Matching:3DTM)[28]0 Ï2143�5�6�798�: 3DTM ; �=< 3 ��Ì?>A@ ¢ $ £?B �DC 746 <FEHG�IKJML�NAO:ÇC�CFPQI?R3�x� ; 3 ��Ì4S�T+U ¢ kWVDX+Y { E 8W;�7Z-[A\ ÇA] { <=NAO � Ç�^=_R3�u� ;a`�b8Ï2ced�fg8Mh 0 { E 8�:

3DTM { �=<�NQO �?� Ç 3 �5Ì?U ¢Ai Ï < #�¤�j ¢ $ £ RlkM�FmDn 6 �Gpo Ò NO �+� Ç3 ��Ì ¢ $ £?B �rq�s 5 < U ¢AiQÇ�t « ;vu ow�Mxzy|{ 7�}�~ Ç 3 �"Ì «

; Ç��?�Q�9� >Q@ Ç���Ç=��� Ïr� L 8/:e� Ç/� Ï2�A�;�5|6 < � o V x�� ; R 8|�� �r��� fg8 m Z � U ¢Ai:Ç"�F� � `�b8Ï ��É���� 6�7���: ���4� «+� Ç U ¢Qi:Ç�F� � `=beVDcFd=��; R 8D:¾-¿ *z& �=<���Ç h=� � �Q�4�4� Ï �?� fK8�:

55

Page 64: Flexible Cooperation of Human and Robot by interpreting ... · Flexible Cooperation of Human and Robot by interpreting Human Intention from Gaze Information 26413 16 1 30 ! #"%$ &

5.3. 3� Ì ¡�� Í1Î�ÀXÁ� x � 5 � 3

� Ì ¡�� ÍXÎ#ÀXÁ� xÂ Ç Ð�Ñ

1.�+������� ÏDU ¢Qi ;45|6�� n 6 C9�/< ��� � � u Ç���� Ï�� .��x¤ $À�� ¤ fK8�:

2.�+� ��� d?`Ab �?E 8�; Ç Ä dUÏ C �+; < � .��x¤ $ À�� ¤ �em � � � ÇCQC+P�I?R2� � � `=bFV�� I 8 Ò L�< u o Ï���� � � ;�5 <"N�� fl82>�@ ��� � � .���¤ $ À�� ¤ � o Ò ��� ��� ; �?� Ç 3

� Ì�S�T4U ¢�i Ï�1?3�5 63DTM Ï I� 2<D�e� ; `�b Ç/^�_HR cFd:Ï � Z (

§5.13) :

§5.13: 3DTM

�Fm 8 �4� Çr�?�

5.3.2 ���"!j�$#`�&%5.3.1

� �u� 5 Ò h 0 �+m � < ������� Ç2�4� � `�b:Ï �A� fw8��+;vV � � 8�:(' n6 < �A�4�4� ; ¡���)+* & i�Ç�, « Ïr� L 84�F; ��-X¡�« Ç c d+V È�. ; R 8�: ©ª V�Y/�021 � E 8 -1¡x« Ï Ä�Å�Æ ª43 ��ÈX¡ É fg84�F;2V � � 8 3� Ì ¡�� Í1ÎÀ�ÁA �ÂÏbÐ�Ñ�fl8+�F; �Fm � <�©uª V NQO �+� Ï kbÇM�F� �65�7WI�G -1¡ 5|6A7

8 I+Rlk <�©uª�Ç1±�² �48UÏ:95A��Yg84� ;2V � � 8�:56

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5.4. À�Á= x Ç���� � 5 � 3� Ì�� � ÍXÎ#ÀXÁ� xÂ Ç Ð�Ñ

§5.14

� ¨�f m Z ��<-©xª5Ç - � «�� � R � <-©xª V kbÇ"� �FIKGAk�Ç9m Z R`�b � �?� Ï - ��5�6A798 I Ï� � fg84� ;2V � � 8�:

Attention Point

§5.14:

Ä�Å�Æ ª+��C 8 - � « Ç È � É

5.4 º » ¼ ½ � �Ð"Ñ�5 Ò 3

� Ì � � Í1Î8ÀXÁ� � � ��<�� 13[fps]��Ä�ÅÆ�� �DC 7?6 <1Ê�Ë �A�� � Ç - ����Ï È � É fl8?� ;�V � � 8�: à d���� ��<�� 50[cm]

Ç >A@ �QE 8 �?�Ï - �4fK8���� �/<=x�� 1[cm]�47 � E 8�:����eV�� J 8 �"! R�#%$�Ç B � <�x&�

��� ��R 8W;('*) Gpo 8 #�$?�=< (�$&+Q$-,*.0/ Ç-1�2w�/C 8���� � E 8D: (�$+A$ ÇM� � � `�b �Fm"3 � � Ç � � Ç )+* & i:Ç4"5 V-6+d ��o 8 Ò L � E 8�:(Q$�+�$ Ç"� � Ï 7�d 5 Ò ��8 � < EMR-8IgG ��G o 8�8 $%9 Ï;:Qd/� � 5 Ò�<Ç (Q$�+�$ ; - ��� Ç=�> ÏM� L Ò :;?�@#Ï � 5.1

��A f�: R�C�< 8 $B9DC � 50 E� EF3 < � ��)+* & i ;(G ��H , �:Ï - ���z;?5 Ò0I�J 5 Ò ?K@ � E 8�:57

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5.4. ���= �� H ��� �5 � 3

��� � ��� ���� �� H� ��

�5.1:

=�> ?�@Marker0 x y z

Average -34.382328 1168.698608 1529.547363

Variance 0.257680 2.310269 1.054992

Deviation 0.507622 1.519957 1.027128

Marker1 x y z

Average -85.325859 1239.429565 1436.716431

Variance 2.013706 11.860677 4.677338

Deviation 1.419051 3.443933 2.162715

Marker2 x y z

Average 43.102810 1222.900146 1425.289062

Variance 1.244638 9.972414 3.386955

Deviation 1.115633 3.157913 1.840368

Attention Point x y z

Average -14.608809 993.031494 1230.000000

Variance 34.296329 87.034462 0.000000

Deviation 5.856307 9.329226 0.000000

58

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5.4. ���= �� H ��� �5 � 3

��� � ��� ���� �� H� ��

�5.1m 3 < 7�� oH�/� 7+6 y y

H ���WV �9� 7g�e;2V�� I 8�:9� ol�em*3-<��� ��� � H �&�eV�� J fF7�� 5?�4E 8+�e;|V�� I 8�: � � �� ��w�=< 9 ���Q #��� j ��� �Fm 3��G%o 8 �� � E 3 < �� # � >���� H ���WV x����F� ��G o 8- ��� H � ���"s"! fl8�: (Q$�+�$ H ,".�#%$ H 3[mm] & 7 H ���FV < - ��� �DC746 � 1[cm] & 7 H ��� ; R?n 6�5 P Z :' ���� �� � �=<)("* +���+ H ��, 5 H)-/.�H�0 L21 G �%H)3�4�5"687 � � H�9:( ;�< + < H ,". ) =?> ��@ �BA � 7 C � �?DFE"G uw� � 1IH)JLKNM C 12O ��P�Qi M H�R2S�T�U�V @�W*3 T�U�XZY �\[ � �����?]��= R�S � � Y � 7 � 1 G ��H)34�5�687 � � H�9 : = ,�^I@ �BA`_ 7`a 1 � � H - �%�/=�b � XZY G�1�2 HdcFeLCf�g H W A @�D Y G

1.HdJhKiM C G ��H23"4 = 5�6jX�Y Gdk/l 3m1 G ��H2n�o H�pIq rts�u =�v"wXZY G

2.3�4�5�6�x 1 � � 9 : @;1�2 =`y X G(a)

+j+ <dzd{j|Z}~;�< + <2�I= , .�� 1 +���� �?�?= ��A�_ 7�a 1 ;�< + <z?{�= � Y G

(b) ;�< + <?z?{ @��d� XZY`��� 8"< 9 |�} 1 ;�< + < H ����� =;� � X�Y G(c) � � � 0 �d��� |L}��2� �d� V�7 ;F< + < �?� V�H �����2� ��� =��j� Y G(d) EMR 8�< 9 7 �"����� �"� |N} 1F��� �Z� M�� =���� Y G

3.3�4 �� 7 ��� �Z� M�� |N} 1 � � HF� � �I=\��� Y G

_ H W A D1�2 =�� 3¡  X _ 7�a 1�H2J�K¢M C � � H ���� �� =\£ � XZY _ 7�¤aj¥ 12����@�¦�§©¨ª�« = �BA�_ 7�¤?¬?­®7 D Y G

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6

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6�

' � a�C 1�� 5 � a���� � 0 � �?]���=�� E���1�� 4 � a�� � 0 ���Z7 H�JZKiMH�������� =���� � 0 G��������h@)k�E���� Y G

6.1! " # $ % & '

������� =)( A 0 � �/H)J�K¢M*��+�,���-�. C f�g ��W A @�D�/���E Y G

1.3�4"n"o � pjq r s�u � 5"6

2.��� � � �102� b43

3.���5��6�7�@jW Y8�9� ��:9; r=<�> ��?2@

4.��� ��:�; rA<�> @\¦�§i¨ª�« U��

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3k a2L�Y G

•� �9M � =ONP� � K ���h@jW Y�Q RTS ]5U S �

• “ V E ”<�> @W5X Y�Y[Z �E\4] �_^a` ­4b�c4dfe ¦"§¢¨hg�ifj n�o � �4k

•� ��` ­�bfe W Y`U�� ��l9mon

���qp N�� � K ������� �2r�s8t4u1v)txwyp[; 6.1^O;

6.2e8k4z4{ ��� c�d p �|5} _ ^ a C�~��1���9� a�� FH. K ª�«5�4�E�10�p)6 D � C ��� �:�; r�<�> p

��� � K s�q�Gw e1� } ª�« ¤�¬?­ ^8j�/ K {

61

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6.1.�����4� ��-4. �

6 � ��� W ��� ��� �4�

Gaze Data:Gaze(i)Gaze Data:Gaze(i)

Gaze(i-1) = Gaze(i)Gaze(i-1) = Gaze(i)

Yes

No

count count + 1

count > TGcount > TG

Robot grasp Gaze(i)

count 1

No

History(j) Gaze(i)

j j + 1

Perplexity-Object

=analyze(History)

Perplexity-Object

=analyze(History)

Robot grasp Perplexity-Object

Yes

i i + 1

count 1

i i + 1

count > TRcount > TR

Yes

Yes

No

No

;6.1: ��� <�> �\ª�« � �1r�sEt4u�v�t w

Gaze(i) i � � ��+�, a 3 } . } � � n�o

TG ������� ^ v�� D @ ��� p�� ��z }���� M � ���\�

TR

����¤d� ��� o p��� z } K � e"!�# j ��� M � �����

History(j) j �$� e"%�& Fh.�� |5} �"��'�( c�d

analyze()����'�(qp 6�7 � C

“ V | ”<4>j¤*),+ F .�..-�C�/1� ����e g�i5j0� o

“Perplexity-Object”p�  z

Robot Grasp Gaze(i)s� �Gw �\ª�«� �1{F� ��� o p v��

Robot Grasp Perplexity-Objects� �Gw ��ª�« �9{

“Perplexity-Object”p

v��

62

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6.1.�����4� ��-4. �

6 � ��� W ��� ��� �4�

Gaze Data:Gaze(i)Gaze Data:Gaze(i)

Gaze(i) = Working-ObjectsGaze(i) = Working-Objects

Yes

No

Robot grasp Driver

Gaze(i).Function

= Driver

Gaze(i).Function

= Driver

Yes

m 1

n 2 Gaze(i) = Objec t#1

m 2

n 1

flag #m = True

Yes flag #n = True

count #m 1

count #n 1

No

No

Yes count #m

count #m + 1

Nocount > TFcount > TFYes

flag #m True

i i + 1

flag#m False

flag#n False

Yes No

No

;6.2:

����<�> �\ª�« � �1r�sEt4u�v�t w

Working-Objects����¤������ X4p (��� e v�� � � |5} 2 � � o

Object ]1 “Working-Objects”� ��� C� �� ¤ v�� � � |5} � o

flag ]m “Object ]m”�

“Driver”p !# ^ z } ` ­4b B � � � r�� �

Gaze(i).Function i � � �[+4,�� 3�} . } � ��� o �E` ­�b � ��� � � � � |T}` ­4b

TF

�1��¤������ X } ` ­4b p D @ z } � e #�z }���� M � ���\�

Robot Grasp Drivers�T� w �\ª�«� ��{

“Driver”p v��

63

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6.2. ��� I�

6 � ��� W ��� ��� �4�

��.�� .9�\ª�«� � p ��� � K {�� K C5s�T� w ¤ v�� � K �4� � o�� C v�� �K x C ����� X �4��� � ( ��� ^ ¤ , � L } ¤ C ��� � � C�� � � K �� Tp ���e ��� z � ^�p`ª"«� � ^�� � |5} {� � � K ��� �� � C����T� LEGOp

2 � �� ¥ F e�� ��� K�� � � L } { s�f� w � C������LEGO

p�� � z } � ^ ���! � L n C"� � ¬d­ j��$#9F e!� � z} !�#&%2L / K�K(' � L } {�� K C*)��� + �5 � L n C �� + ��, ��� L } ^��-/. j | % C*0�12C �� 2+ %�3/. � ��4!5 �76�« % ( . } {

6.28 9

I:<;>= e1� } Q[RTS7? U S�@7A �76�B p � � � K {�����%C @�M ��D>E ��F ; p

( � ^�s��q�Gw % F ; �� 5p�� � � C ����e ��� z4{ ; 6.3e �4�qp k�z�{

;6.3:

F ; �> ��7� � � ��� ���

64

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6.3. ��� II�

6 � ��� W ��� ��� �4�

6.38 9

II: V | <P>Te W5X } 6�B A p ��� � K { ; 6.4

e �4� p kPz4{“Gaze Record”

ek2z � � j '�( cPd p�� 3 � K���� e C '�( e %�& F .�� |T} “BlockA(Green)”

C“BlockB(Light Blue)”

C“BlockC(Yellow)”

C“BlockD(Green)”

��`�� b ����4C ������ �[� ��

“BlockA(Purple)”�E`�� b�%�� � � � |5} `�� b “Axle”

^����z } `�� b p � � z } �� e���� p ( � { � � � � e C ��� p�� n�� � C C @PM��D>E� "! � � � ����� X % ($# . � | j |�% ��C'& % M�0 ��(�� 3 � +qp*) 3 � �|5}

“BlockB”p�� � � C,+�� e ��� z � ^ % �(# � |5} {

;6.4:

F ; �> % � � %�- �'.'/

65

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6.4.-��

III�

6 � -�� W ��� - ��.�/

6.48 9

III: F ; `�� bfe2� } �� % l9m n A p -�� � K { ���fp ( / � |�} +�� % C������ %��% `�� b p7F ; � � |�}� ^ | �!� ^�p � + � C*F ;�� � b � n - ( Fh.} Y Z�� \�]�� pO?���� C'& % Y�Z�� \�]�� % / % Y[Z�� \4]�� %2C : e�D @ � �

|5} �'� C,+�� %���� % Y[Z�� \�]�� p - ( � � |�} � e C5s�T� w % / % Y�Z��\�]�� %���� p ( � {- � e�� C “Shovel”^

“BlockB”% � ��� X�p ( / K { “Shovel”

�“Bearing”

^“Open-Axle”

% � � b p � � C “BlockB”�

“Bearing”^

“Axle”% � � b p � { �%

2�> fp ��� � K ��� � X���� � C�/ %

2 �Y t S�% � . � . } {

1. Shovel:Bearing ⇐⇒ BlockB:Axle (;

6.5(a))

2. Shovel:Open-Axle ⇐⇒ BlockB:Bearing (;

6.5(b))

(a)Bearing and Axle (b)Open-Axle and Bearing

;6.5: Shovel

^BlockB

% ��� � X � Y t S

1.% ��� � X!��� � / % ��� e

“Driver”p !�# ^�� C

2.% ��� � X!��� �"!�# ^

�)j | { � % � � e C 4" �� % ��� � X#��� e W | � � / % ��� ��$ j�/ K ���^8j } { & � ��C,+�� % �*% � � b p"F ; � � |5}� p&%�' } � ^ ��C�(�)�* ��+, j76�B %�- �_^�j } {;

6.6e .�/ p k�z4{ E � � C “Bearing”

^“Open-Axle”

% � � � X % K>' C / % ��G^2� �

“Driver”��.�# � L n C8s��4�9w �&/ % 6*B � (�# j | {10 � � C “Bearing”^

“Axle”% ��� � X � L n C�/ % �2� e

“Driver”% !# j % �4C,+� %������ X

� |�} � e C�s��5� w �“Driver”

p � � � C +�� e �� � � |�} { � % � � e C�s�T�Gw � C,+�� % F ; � � |�} � � b5e�3�4 | K �� % l�m_nOp ( �!� ^ % �&# �|5} {

66

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6.4.-��

III�

6 � -�� W ��� - ��.�/

�6.6: ��������� ������������������

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7

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��� e j n �1� ����� %� � | +���Gs��T� w � � ~�� %� � � s�T�Gw ^ ��$ jn � ���*C � +������ � � +��2p�� ����� z } � ��p � *��>� � |�} { �!#" ���$&% �(' � �*)�+ %-,/.10 +�� %-,/2 $�3*4 ' ��57698&:�; %=< 8>?�@BA=C�D � +�� %-EGF $ H�I��KJ L�M�**N1O C < 8 ;>= %-P1Q $SR �UT ��� +� %�EBFV0�,�2 $SW�X T JBY�ZB[]\ '7^ 8S_�% Q �`$ - � T J�>ba�c�* ' D � LEGO%�d`e �� ���#$Sf1gh� T � ��� % ;�= %i�j � +�� %-EGF0�,/2 $lkBm�6n8Vop � �#qSr ' 3�4�s Y-Zn[t\ %-u B Q ��v=m p $&w�x T J/>ny � ' � -=z � 3 {1|}1~B�*�������B� $&��� T � +��tYZn[�\K� % _�% d`e1��� ���#$ - � T J1>

7.1� � �

?�@`A7C %���J q � D {B����� C < 8>

1.}1~ �V���n'B^ 8���� � E�F � ,�2 ���#�

2.�`� � EGF � ,/2 '���� s YZn[�\ � u���Q/� � w�x

3. �� `¡`¢ [�\¤£*¥ ¦ � C < 8 3 {1| }�~B�*�n�����`� � ���

4.w�x T J]YZn[t\ � u1�/Q/� �*��§

¨/©Bª*«�¬]­�®1¯�°/±1ª*²`³ ´¶µ/·�ª ¸�¹LEGO � d�e7�=���7º $�%#� �1» 8��� � }�~ $ �1� T J�> ���G��¼�½=¾�¿�À1��^#Á " Y�Z�[�\ � u��1Q1� � L  'Ã�Ä "�Å�Æ $lÇ`È�6É8 q=ÊlË CBÌ J1>

• Í } 'B^ 8lÎ=Ï ,12 ÊÑÐ/Ò ,/2 �-Ó/Ô•}�~ � i�j 'B^ 8 “ Õ » ”

,12 � Ö�ו Í }�Ø=Ù/Ú 'B^ 8 dBe�ÛnÜVE�F ���n�

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7.2. ���`��� f �7 � ¼��

°/±/ª*²`³ ´¶µ/·�­�� ��������� ª��������=ª���� }�~ �l����¼*½! #" ¾ ��� ÊY-Z`[9\ � _�$ ��º&%�'�»/� ¾ }�~)(&* ��^#Á % R�+�6n8 ( w x T J�>Kw�xT JGY-Z9[�\ � u1�7Q/� D ¿7À�� 3 , C < 8• Í } z � ( R�+ T J }/~ % ^ 8�-�.)/ �#0 /�1• “ Õ » ” 243 %5'BÜ 876 ��8:9�;7< Ê Ø�Ù�Ú N�O % ��� s>=�?�@BA c � w4C• Í }�Ø=Ù/Ú % ^ 8 Q/� ��DFE �

3 G!H ¨/©�I�J#K�L�M4N/ª7O�P w�x TRQ u��/Q1� (:S Á Q�T % ¾�� z � 3 {�| }�~�*�n�����B��( �7� T:Q�UWV �����B��X ¾ EMR-8 � ; ¦&6 Ê YZn[t\ZY�[]\/ ( R�+�^`_ q=ÊRa ¾�b�ced)f Ë �B� � }�~�g�h#(5i�j a Ì _ UWklQ ¾nmlo�p� %W'�Ü _ Í }�q �4r }�s Ë�a Ì _ U���utwv`���x��� ª������4�=ª�ylz ���|{ Q �����7��( + »1� ¾ w�x|{ Q u���}��( �*§ { ¾�b~c&dxf Ê �W� $l�!� �/����º ( �l� { Q�U b�cFd�f X ¾ ��º#� ��`� � }/~�g�h`(~ilj { ¾�/� ^�_�� Ê:aW=�?`@�� � (nS Á � ÊlË�a Ì _ U

7.2 � � � � �• ��� { Q��7�7�!� a~� j ^`_ Í7� q �5��� (��W����� _:��� Ë�� _ U�� ¦�� ¦�n� ^�_ Ê Ì �� �¡ Ë7¢!£�¤ % j "w¥ _ Í4� q ��¦F§��� �¡ %�¨ Ì#©«ª�¬ ^_ U4­�®W¯�° (�±7² ^x_�� Êna4³�´ � ¥ _ Ê«µ�¶Fa Ì _ U

• ·�¸F¹ �7º A�» � Íl��¼�½ @ * % X ¾F¾~¿G� � Ê�@�Ë "wÀ � ¡ Ë�� _ U �eE� ��§ a X4Á ¥Â"�Ã7ÄÉ¢lÅ ¦e6 X�Æ�Ç4È Ê {nÉWÊ)Ë4É » _ Ë ¾xÌ#ÍÏÎ�Ð�Ñ (ÒÓT _ Q�T % X ¾nÀ�ÔxÕ Ê % Ä)Ö�Å�× 6 (5Ø7sÙ��� _:��� Ë�� _ U b�cÓdxf ËÚ�Û {ÜÉ�Ýe_ ÔÓÞ ( {�ß " © Ã�Þ�à�á {Râ|ãRä < 6~. � a�å�æ (�S Ë Q � a âÄ)Ö7Å�× 6 (:ç�Ç {èâ Á ¥ %5é�ê Ý Q � $ ÚlÛ (Bë�S ^`_���ì:í a!î ¥ ß�â ÚÛ�ï %nðòñ Q =�?#@~��ó í r4ô ì @ _ U

• b�cÓdxf X Ô!Þ í S Ë�É4Ý&_ Ú�Û ( �ló ^#_ Ì#õ %Bö�÷ {RÉ4ÝF_�í7â Ô�Þ ì bcFd)f í�øFù Ú�ÛFú S Ý�û�í�üèâ b�c&d`f í Ô!Þ�à ��ó ú S õ:Ì`õ ù ö�÷ ^`_��ì a â Ú�Ûlý�þ í ¨�ÿ ù ³�´ � ¥ _Fì µ�¶FaÓî _ U• ��� { Q!�4�4�F� ù���Ý�Élâ�� � q�i4j Ã����� ã �� �Ü× f X�� 13[Hz]

a� _ U � ¥ a X ���#Ã���Ñ ú å�æ ^�_�ù X����� a�� _�� ������Ñ`Ã���� ù

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7.2. ���ÓÃ���� � 7 ���

��Ý�É ��� û ��� � ã ��� ���� 100∼1000[Hz] � ��� í4â � ��� ã ����Z×�30[Hz] ��� â ������� ù���� ��� ¹���� û © ì � 100[msec] ��� ��� Ã�� â

30[Hz] Ã�� � � ã ������ â ��� í � Ý�É4Ý �� â ��� Ý �"!$# Ë�ÉlÝ � à ú&% Ç(' ��) ì �+*7ô,� ��� ì.-0/ � ¥ É4Ý � [29]��1FË7É4â�2(3�465 ú87 õû:9 ±�²<; â ��� û � �� ã ����Ü× � � % Ç *lô û ���l�Ó� ù&=,> �è� ����!í ��� �

• EMR-8 ü@?BA � î���C ×ED ù “ F î ( G = Ñ�FIH )”

í ��� � F î à þeú8J0KÑ#Ã+L0M#Ã�N,O�Ã6P 5,Q�5�R0Suì ' �UT�V [30]í$W � Ìxõ ù�â F î ì P 5�XY ì �&Z�[ û0\�]Fí�W � �81ÓËWÉ4â F î+ ü Ô�Þ�^BP 56X Y úU_ Ç`; â�a ^ XY ù K ; N�b ó � Ú ^ Q(cFí *4ô ìBû � ìedgf#ü.h � �

• i�������� â�j�k�l � �&b ó � Ú ì ;nm K�o û"p�q úUr�s ; â Ô�Þut�^+v6w ;ú87 õ �Up�q ^ux C6y�z - ü|{ VB} � Ú�Û #�� 7 õ ) ì �+*7ô,� W:~ â ë(�' �8��� í�W � �• ���g^u��� z -)ù��0�<��h m0� ��� ì�� ô���^ z - ü��E� ^�P 5�X Y � W�

“ � � ”ú�_,� ; N ílâ �6� z -Ùì ë0� �$^B� ��D$�u��� ú \"� ê � ��) ì

�+� � X Y ù��� � ��� ùu��h � �0��� ûu� Du� � ú =�� ; N � ) ^ � D+��+^B�E �¡ ú���¢ � ù L6M ;Um�� û � N�O+£BL0M,v0¤ ú dgf �8��� í�W � �

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