Direct Perception of Easily Visible Information for Unknown Object Grasping

2016 ◽  
pp. 78-89 ◽  
Author(s):  
Hiroyuki Masuta ◽  
Tatsuo Motoyoshi ◽  
Ken’ichi Koyanagi ◽  
Toru Oshima ◽  
Hun-ok Lim
Keyword(s):  
Direct Perception ◽  
Unknown Object

Direct Perception and Action Decision for Unknown Object Grasping

2019 ◽  
pp. 1372-1387
Author(s):  
Hiroyuki Masuta ◽  
Tatsuo Motoyoshi ◽  
Kei Sawai ◽  
Ken'ichi Koyanagi ◽  
Toru Oshima ◽  
...  
Keyword(s):  
Relative Position ◽  
Fuzzy Inference ◽  
Perceptual System ◽  
Moment Of Inertia ◽  
Direct Perception ◽  
Physical Parameters ◽  
Robot Arm ◽  
Depth Sensor ◽  
Unknown Object ◽  
Action Decision

This paper discusses the direct perception of an unknown object and the action decision to grasp an unknown object using depth sensor for social robots. Conventional methods estimate the accurate physical parameters when a robot wants to grasp an unknown object. Therefore, we propose a perceptual system based on an invariant concept in ecological psychology, which perceives the information relevant to the action of the robot. Firstly, we proposed the plane detection based approach for perceiving an unknown object. In this paper, we propose the sensation of grasping which is expressed by using inertia tensor, and applied with fuzzy inference using the relation between principle moment of inertia. The sensation of grasping encourages the decision for the grasping action directly without inferring from physical value such as size, posture and shape. As experimental results, we show that the sensation of grasping expresses the relative position and posture between the robot and the object, and the embodiment of the robot arm by one parameter. And, we verify the validity of the action decision from the sensation of grasping.

Direct Perception and Action Decision for Unknown Object Grasping

2017 ◽  
Vol 7 (1) ◽  
pp. 38-51
Author(s):  
Hiroyuki Masuta ◽  
Tatsuo Motoyoshi ◽  
Kei Sawai ◽  
Ken'ichi Koyanagi ◽  
Toru Oshima ◽  
...  
Keyword(s):  
Relative Position ◽  
Perception And Action ◽  
Fuzzy Inference ◽  
Perceptual System ◽  
Direct Perception ◽  
Physical Parameters ◽  
Robot Arm ◽  
Depth Sensor ◽  
Unknown Object ◽  
Action Decision

This paper discusses the direct perception of an unknown object and the action decision to grasp an unknown object using depth sensor for social robots. Conventional methods estimate the accurate physical parameters when a robot wants to grasp an unknown object. Therefore, we propose a perceptual system based on an invariant concept in ecological psychology, which perceives the information relevant to the action of the robot. Firstly, we proposed the plane detection based approach for perceiving an unknown object. In this paper, we propose the sensation of grasping which is expressed by using inertia tensor, and applied with fuzzy inference using the relation between principle moment of inertia. The sensation of grasping encourages the decision for the grasping action directly without inferring from physical value such as size, posture and shape. As experimental results, we show that the sensation of grasping expresses the relative position and posture between the robot and the object, and the embodiment of the robot arm by one parameter. And, we verify the validity of the action decision from the sensation of grasping.

Narrative Empathie und der ethische Wert der Perspektiveneinnahme

2018 ◽  
Vol 63 (1) ◽  
Author(s):  
Susanne Schmetkamp
Keyword(s):  
Perspective Taking ◽  
Phenomenological Approach ◽  
Moral Emotions ◽  
Direct Perception ◽  
Epistemic Situation ◽  
Fictional Character ◽  
Moral Value

Narrative Empathie liegt dann vor, wenn der empathische Nachvollzugsprozess der (emotionalen, epistemischen) Situationen anderer Personen oder fiktiver Figuren durch ein Narrativ, das heißt eine sinnzusammenhängende Erzählung, ausgelöst und strukturiert wird. Der Aufsatz knüpft an den phänomenologischen Ansatz von Empathie als direkte Wahrnehmung an, vertritt aber die These, dass gerade bei Narrativen die Imagination und die Perspektiveneinnahme hinzukommen müssen, damit retrospektiv, prospektiv oder gegenwärtig die Situation des Anderen und seiner individuellen Perspektive vergegenwärtigt und verstanden werden kann. Der narrativen Empathie wird ein indirekter ethischer Wert zugeschrieben: Durch das empathisch anschauliche Anteilnehmen am Narrativ des Anderen und einen damit verbundenen Perspektivwechsel können auch unsere eigenen Perspektiven erweitert werden; dies kann zu besserem Verständnis ungewohnter Sichtweisen führen und moralische Gefühle und Handlungen motivieren. Narrative empathy is the complex re-presentation of an (emotional, epistemic) situation of another person or a fictional character by means of a narrative, which is a structured and perspectively colored context of meaning. The paper sympathizes with the phenomenological approach of empathy as direct perception though at the same time arguing that in cases of (literary, filmic, dramatic) narratives imagination and perspective-taking is also needed in order to be able to comprehend and to understand the other’s situation retrospectively, prospectively or at present. According to the author, narrative empathy has an indirect moral value: the vivid empathetic participation in the other’s narrative and the process of perspective-taking can help to broaden one’s horizons; this can lead to a better understanding of unfamiliar and other worldviews and motivate moral emotions and actions.

scholarly journals The Neural Basis of Vivid Memory Is Patterned on Perception

2012 ◽  
Vol 24 (9) ◽  
pp. 1867-1883 ◽  
Author(s):  
Bradley R. Buchsbaum ◽  
Sabrina Lemire-Rodger ◽  
Candice Fang ◽  
Hervé Abdi
Keyword(s):  
Brain Activity ◽  
Sensory Perception ◽  
Direct Perception ◽  
Neural Basis ◽  
Activation Patterns ◽  
Short Video ◽  
Initial Perception ◽  
Experiential Quality ◽  
High Degree

When we have a rich and vivid memory for a past experience, it often feels like we are transported back in time to witness once again this event. Indeed, a perfect memory would exactly mimic the experiential quality of direct sensory perception. We used fMRI and multivoxel pattern analysis to map and quantify the similarity between patterns of activation evoked by direct perception of a diverse set of short video clips and the vivid remembering, with closed eyes, of these clips. We found that the patterns of distributed brain activation during vivid memory mimicked the patterns evoked during sensory perception. Using whole-brain patterns of activation evoked by perception of the videos, we were able to accurately classify brain patterns that were elicited when participants tried to vividly recall those same videos. A discriminant analysis of the activation patterns associated with each video revealed a high degree (explaining over 80% of the variance) of shared representational similarity between perception and memory. These results show that complex, multifeatured memory involves a partial reinstatement of the whole pattern of brain activity that is evoked during initial perception of the stimulus.

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