Vol.4 No.2 2011
Research paper : Toward the use of humanoid robots as assemblies of content technologies (S. Nakaoka et al.)−97−Synthesiology - English edition Vol.4 No.2 (2011) Discussions with Reviewers1 Overall composition in terms of synthesiologyComment (Masaaki Mochimaru, Digital Human Research Center, AIST)[Composition of the paper in terms of synthesiology]In terms of synthesiology, I see this paper as an integration of the three elemental technologies of life-sized, realistic humanoid (platform as hardware), motion expression support technology (whole body motion generation + dynamic simulator), and singing expression support technology (voice synthesis technology + lip synch technology). Verification was then done for whether the performance created by the integrated technologies would be recognized as an unprecedented new media content. As a synthesiology paper, I think you should clarify this position and organize the chapters along this line.Comment (Naoto Kobayashi, Center for Research Strategy, Waseda University)[Diagram that allows understanding of the whole picture in terms of synthesiology]The elemental technologies that include the completion of cybernetic human HRP-4C, the creation of Choreonoid, the whole body movement software, the realization of facial expression creation function, and the development and use of dynamic simulator are extremely important. As I see it, the final objective was achieved by integrating these technologies. I think the reader’s understanding will be improved if you provide a diagram that describes the elemental technologies in blocks, showing the relationship between the elemental technology blocks and how they were combined and synthesized to approach the final goal. I think this is also extremely important from the perspective of “synthesiology” as an academic study.[Description of technological difficulties in integration]I think you should explain the major difficulties that had to be overcome in integrating the technologies.[Feedback from integration to elemental technology]In conducting the integration, I think you had to have feedback for the correction and improvement of the individual elemental technologies. Please give us an actual example of a feedback that provides a clear case study that will be useful to the readers.Answer (Shin’ichiro Nakaoka)[Composition of the paper in terms of synthesiology]The description was altered based on the comment from the reviewer. For the composition of the chapters, the four technological domains that were the issues in achieving the objective of this research were briefly summarized in chapter 2. The details of the issues and the efforts to solve them were described in the chapters for the four technological domains. [Diagram that allows understanding of the whole picture in terms of synthesiology] Figure 1 was added to show the outline of this research.[Description of technological difficulties in integration]In the large framework of “robot hardware”, “motion expression support technology”, “voice expression support technology”, and “ integrated interface” as elemental technologies, the difficulties were to select the necessary elements, and to figure Kenji KanekoReceived the B.E., M.E., and Ph.D. in electrical engineering from Keio University in 1988, 1990, and 1997, respectively. In 1990, he joined the Mechanical Engineering Laboratory, Agency of Industrial Science and Technology, Ministry of Industrial Science and Technology (AIST-MITI). From September 1995, he was a visiting researcher at the Carnegie Mellon University, U.S.A. for half a year. From September 1999, he was a visiting researcher at the Paris Robotics Laboratory (LRP), CNRS, France for one year. He is currently the senior researcher of the Intelligent Systems Research Institute, AIST. His research interests include motion control and humanoid robot. He received the IEEE-RAS International Conference on Humanoid Robots Best Paper Award (Oral Category) in 2009. In this research, he was mainly in charge of the development of HRP-4C.Shuuji KajitaReceived the master's degree (1985) and the doctor of engineering degree (1996) from Tokyo Institute of Technology, Japan. In 1985, he joined the Mechanical Engineering Laboratory, Agency of Industrial Science and Technology, Ministry of International Trade and Industry (AIST-MITI). Meanwhile he was a visiting researcher at California Institute of Technology, 1996-1997. Currently he is a senior researcher at the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan, which was reorganized from AIST-MITI in April 2001.His research interests include robotics and control theory. He is a member of Society of Instrument and Control Engineers, Robotics Society of Japan and IEEE (Robotics and Automation Society). Received the best paper award of the Society of Instrument and Control Engineers in 1996 and the best paper award of the Robotics Society of Japan in 2005. In this research, was mainly in charge of the development of HRP-4C and the walking stabilization system.Kazuhito YokoiReceived his M. E. and Ph. D. degrees in Mechanical Engineering Science from Tokyo Institute of Technology in 1986 and 1994, respectively. Joined the Mechanical Engineering Laboratory, Agency of Industrial Science and Technology in 1986. Senior researcher of the Intelligent Systems Research Institute, AIST from 2001. Research group leader in 2004, and deputy-director of the Intelligent Systems Research Institute, AIST in 2009. Visiting researcher at Stanford University in 1995~1996; co-director of the CNRS-AIST Joint Robotics Laboratory in 2003~2008; and adjunctive professor of the Graduate School of Systems and Information Engineering, University of Tsukuba (Cooperative Graduate School) from 2005. Engages in the research for enhancing the autonomy of humanoid robots. Received the Young Engineers award of the Japan Society of Mechanical Engineers in 1993; Best Paper Award of the Society of Instrument and Control Engineers in 1993; Best Video Award of the IEEE ICRA for 2003 and 2004; Best Paper Award of the Robotics Society of Japan in 2005; Robotics and Mechatronics Academic Merit Award, Japan Society of Mechanical Engineers in 2006; Best Paper Award of the Japan Society of Mechanical Engineers in 2008; and many others. In this research, was mainly in charge of the project management and the contents production experiment.