3 Dimensional Interface and Qualitative Analysis of 3 Dimensional Movement

这项研究旨在制造一种可以在日常生活中与电脑一起使用的3-D输入设备。三维运动包括平移运动和旋转运动。每个动作有3个自由度。第一点是使用球旋转提供自然的3-D旋转输入界面。利用原型装置，对球的旋转输入界面进行了若干任务的评估。实验用两个商用设备Magellan^<TM>, Spaceball^<TM>完成。实验结果表明，所设计的三维输入装置可与商用设备相媲美。球旋转接口是一种很有前途的桌面三维旋转输入接口。三维运动定性分析的方法分为基于信号变换方法的分析和基于任务语义的分析两类。我们接近后一种分析，并将我们的方法应用于通过人类示范向机器人教授装配任务。演示装配任务由装配部件的三维位置和姿态数据的时间序列组成。采用局部接触模型对时间序列数据进行了分析和定性描述。仿真和真实机器人验证了该方法的有效性。

This reseach aims to produce a 3-D input device that can be used beside a computer in daily life. 3-D motion consists of translational movement and rotational movement. Each movement has 3 degree of freedom.The first point is to provide natural 3-D rotation input interface using a ball rotation. Using a prototype device, the ball rotation ball rotation input interface was evaluated with several tasks. The experiments were done with two commercial devices Magellan^<TM>, Spaceball^<TM>. The experiments showed that our 3-D input device is comparable to the commercial devices. The ball rotation interface is promising one for 3-D rotation input for desktop useMethods of analyzing qualitatively 3-D movement are categorized into two types, analysis based on signal transformation methods and analysis based on semantics of tasks. We approached the latter analysis and applied our method to teaching assembly tasks to robots by human demonstrations. The demonstration assembly task consists of time sequence of 3-D position and posture data of assembly parts.The time sequence data is analyzed and is described qualitatively using local contact models between parts. The validity of our approach was testified by simulation and real robots.