2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
September 24–28, 2017, Vancouver, BC, Canada

Previewed Reality: Near-future perception system
Yuta Horikawa1 , Asuka Egashira1 , Kazuto Nakashima1 , Akihiro Kawamura2 , and Ryo Kurazume2

User

Abstract— This paper presents a near-future perception system named “Previewed Reality”. The system consists of an
informationally structured environment (ISE), an immersive
VR display, a stereo camera, an optical tracking system, anda dynamic simulator. In an ISE, a number of sensors areembedded, and information such as the position of furniture,objects, humans, and robots, is sensed and stored in a database.
The position and orientation of the immersive VR display arealso tracked by an optical tracking system. Therefore, we canforecast the next possible events using a dynamic simulator
and synthesize virtual images of what users will see in thenear future from their own viewpoint. The synthesized images,
overlaid on a real scene by using augmented reality technology,
are presented to the user. The proposed system can allow ahuman and a robot to coexist more safely by showing possible
hazardous situations to the human intuitively in advance.

Environmental
information
Service request
Robot
Task command
Informationally structured environment

Fig. 1.

User

TabletTMS_UR : User Request
TMS_TS : Task Scheduler

I. INTRODUCTION
An informationally structured environment (ISE) is apromising solution for realizing a service robot working
with humans in their daily lives. In an ISE, a number of
sensors are embedded, and information such as the positionof furniture, objects, humans, and robots, is sensed andstored in a database. Therefore, the information required
for a service robot to perform a task can be obtained ondemand and in real time if the robot accesses the database.
Some examples of ISEs include “Robotic Room” [1] and“Intelligent Space” [2] at Tokyo University, “Smart Room” at
MIT MediaLab [3], “Intelligent Room” at AILab [4], “Aware
Home” at Georgia Tech. [5], and “Wabot House” at Waseda
University [6]. Many of these ISEs are still being studied
actively in laboratories [7] [8] [9] [10] [11].
We have been developing an ISE software platform named
ROS-TMS 4.0 [12], which provides an information processing system for an ISE based on the Robot Operating System(ROS), as shown in Fig. 1. Fig. 2 shows the architectureof ROS-TMS 4.0. This system consists of several modules
such as TMS UR (user interface), TMS TS (task planner andscheduler), and TMS RC (robot controller). Each module
uses multiple nodes, which is a minimal component in ROS.
The total number of nodes in ROS-TMS 4.0 is over 100 [13].
In addition, an ISE hardware platform named ”Big Sensor Box” (B-Sen) has been developed [14]. In B-Sen, anumber of sensors, including eighteen optical trackers (Vicon Bonita), nine RGB-D cameras (Microsoft Kinect for

TMS_SA
State Analyzer

Board PC
Sensor & Robot

Fig. 2.

TMS_RP
TMS_SS
Sensor System Robot Planner

TMS_SD
Sensor Driver

TMS_RC
Robot Controller

SensorRobot

TMS_DB : Database

Service Target

ServerDB
ServerFile
Server

Simulator
Choreonoid
GazeboROS-TMS 4.0 architecture [12]Xbox One), several laser range finders (URG-04LX-UG01,
Hokuyo), and RFID tag readers are installed in a house witha bedroom, a dining room, and a kitchen (Figs. 3 and 4).
Service robots are controlled by ROS-TMS 4.0 based on
measured sensory data in B-Sen.


Robots(a) Robots in B-Sen
Fig. 3.

Sensors(b) Sensors in B-Sen

Big Sensor Box (B-sen)

Various immersive virtual reality (VR) displays have been
put on the market in recent years. For example, Oculus
Rift DK2 (Oculus VR) is a goggle-type immersive VR
display device, which measures face direction using a gyro
sensor, and VR images for the measured face direction aredisplayed on left- and right-eye screens. In [15], to increase
the immersive feeling in the VR, human motion is measured
by an optical tracker and stored in the VR world in realtime. We have also been developing an immersive interface
for ISE, which consists of an immersive VR display and an
optical tracking system [16]. This system tracks the positionof the immersive VR display in real time and displays a

1 Yuta Horikawa, Asuka Egashira, and Kazuto Nakashima are with
Graduate School of Information Science and Electrical Engineering,
Kyushu University, Fukuoka 819-0395, Japan {horikawa, egashira,k nakashima}@irvs.ait.kyushu-u.ac.jp
2 Akihiro Kawamura and Ryo Kurazume are with Faculty of Information
Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395,
Japan {kawamura, kurazume}@ait.kyushu-u.ac.jp

978-1-5386-2681-8/17/$31.00 ©2017 IEEE

ROS-TMS370

Laser range finder

mixed reality (MR), and first-person vision. In recent years,
new wearable devices such as Oculus Rift, HTC Vive, andSony’s PlayStation VR have been produced as wearable
immersive VR interfaces. These devices, which consist ofa small display and an inertial measurement unit (IMU),
synthesize a virtual image corresponding to the head direction. Wearable devices are simple and low-cost in comparison
with systems with large screens and projectors, and thus havebecome very popular in recent years.

KinectVicon Bonita

Load cell
RFID tag reader

Intelligent shelf
Fig. 4.

(a) Google Glass

Sensors in the Big Sensor Box

Fig. 5.

virtual image from the sensed eye position on the VR display.
Unlike conventional immersive VR displays, not only theorientation but also the position of the display is measured.
Therefore, a user wearing this device can walk in a room
while wearing a goggle device and watching the VR image
only.
This can be applied to situations in which humans androbots coexist with each other. If the user knows the next
movement of the robot in advance, a hazardous situation can
be avoided. However, if the user does not know the movement of the robot and the robot starts to move suddenly, acollision with the robot could occur. In ISE, all robot motions
are planned in advance based on sensory information. It is
possible to show the planned motion to the user before therobot starts moving. Although a warning light and beeping
sound are simple ways to alert the user about the robot
motion, it is more natural and intuitive if the user can directly
see the next robot motion.
In this paper, we extend our immersive interface for ISE[16] and propose a new near-future perception system named“Previewed Reality”. With this system, users can intuitively
perceive future events with their own eyes.

(b) Epson Moverio

Smart glasses (Google Glass and Epson Moverio)

The time shift effect in VR, AR, or MR technologies
is a popular technique, particularly in digital museums forshowing lost cultural heritage objects. In the time shift effect,
users can view ancient buildings overlaid on current scenerythrough a head mount display, a tablet, or a smart phone.
For example, the Archeoguide project [22] reconstructed
3D models of the remains of ancient Greece. Kakuta et al.
[23] developed a MR reproduction of the ancient capital of
Asuka-Kyo in Japan, which was displayed as a video in a
see-through head mounted display. In these systems, the MRcontent is created and stored beforehand. When a user views
scenery though a display device, the MR content is overlaid
on the screen. All of this content is static. On the other
hand, in our system, near-future scenes are estimated andcreated in real time based on current sensory information.
Thus, all of the content is dynamic. In addition, the time
shift (a few seconds) is much shorter for systems such asPreviewed Reality than that for displaying ancient heritage
scenes (many years).
III. I MMERSIVE VR INTERFACE FOR INFORMATIONALLYSTRUCTURED ENVIRONMENT [16]II. R ELATED WORKThis section introduces an immersive VR interface [16]that can connect a VR world and a real world in ISE. Thissystem consists of an immersive VR display (Oculus Rift
DK2, Oculus VR), a stereo camera (Ovrvision, Wizapply),shown in Fig. 6(a), an optical tracking system (Bonita, Vicon)
shown Fig. 6(b)), and a simulator (Choreonoid or Gazebo).
Oculus Rift DK2 is a wearable display that produces
binocular stereo vision by displaying left- and right-eye
images on each screen. The device has a three-axis gyro
sensor that measures the head orientation and sends it to the
PC. The position of Oculus Rift DK2 in the room is tracked
by attached optical markers (Fig. 6(a)) and the Vicon Bonita
optical tracking system (Fig. 6(b)) with an accuracy of lessthan one millimeter. Based on the measured position andorientation of Oculus Rift DK2, VR images of the roomfrom the same viewpoint are synthesized and displayed on
Oculus Rift DK2. Fig. 7 shows a dataflow for Oculus Rift
DK2, Vicon Bonita, and a simulator (Choreonoid, Gazebo).

Immersive VR interfaces have been reported mainly inresearch on tele-robotics. Several applications using an immersive VR interface have been presented. The following aresome examples: a surgical robot such as the da Vinci Surgical
System (Intuitive Surgical, Inc.) [17], a surgical simulator[18], a space robot with motion control [19] and a rescue
robot [20].
Immersive VR interfaces can be categorized into twogroups. One group includes surround screen projection systems such as CAVE [21]. These utilize multiple screensand projectors to display whole directional images of walls,
floors, and roofs independently of the user’s line of sight. The
second group comprises wearable devices such as Google
Glass or Epson Moverio (Fig. 5). These devices directly
overlay a VR image onto a real image by using transparent
glasses. Such devices have been attracting much attention
because they are highly suitable for augmented reality (AR),371

Immersive display
Stereo camera
4

Gyro sensor

5

Optical marker(a) Immersive VR display(b) Optical tracker

7

6

Fig. 6. Immersive VR display device consisting of (a) Oculus Rift DK2(immersive stereo display) and Ovrvision (stereo camera), and (b) Vicon
Bonita (optical position tracker)

Fig. 8.

Walk-through path in a room1

The scene is first created using environmental informationsuch as the position of objects and robots stored in the
database in ROS-TMS 4.0. Then, the OpenGL-based graphics engine synthesizes distorted stereo images by calling a
distortion function in libOVR (LibOVR 0.5.0, Oculus VR) in
Choreonoid or by plug-in software in Gazebo. Finally, stereo
images are individually displayed on the left- and right-eye
screens in Oculus Rift DK2. The stereo camera (Ovrvision)
Bonita, Vicon

3
2
1

2

3

Oculus Rift DK2

4
Orientation

Position

5

Choreonoid/Gazebo
TMS_DB

Modeling
Renderer (OpenGL)

libOVR/Plugin

6

VR Display

7
Fig. 7. Dataflow of the proposed immersive VR interface. The position ofOculus Rift DK2 is tracked by Vicon Bonita and the pose is sensed by thethree-axis gyro sensor in Oculus Rift DK2. VR stereo images of the realworld from the current viewpoint of the user are synthesized and displayedon Oculus Rift DK2 in real time.

Fig. 9. Walk-through images of a room displayed on the stereo screensof Oculus Rift DK2. The two columns on the left show real images, andthe two columns on the right show synthesized VR images from the current
viewpoint. The VR images are quite similar to the real images.

is mounted on the front chassis of Oculus Rift DK2 andcaptures images from the viewpoint of the person wearing
the Oculus Rift DK2 device. The images are displayed on
the left- and right-eye screens of Oculus Rift DK2, and thus
the surrounding real images can be seen without detachingOculus Rift DK2.
In an experiment, we set up a walk-through path, shownin Fig. 8. Fig. 9 shows some synthesized stereo VR images
for Oculus Rift DK2 and real images captured by the stereo
camera when a person wearing the system walks throughthe room (Fig. 8). From this experiment, we can confirm
that the VR images are quite similar to the real images. The
VR images are created and displayed based on head positionand orientation, even if the person wearing this system walks
anywhere in the room. For example, a user can sit on a chairin the VR world or pick up a virtual object from a shelf.

IV. N EAR - FUTURE PERCEPTION SYSTEM NAMEDP REVIEWED R EALITY
In this section, we propose Previewed Reality, which lets auser perceive near-future events (i.e., before the events occur)by using the immersive VR interface presented in Section III.
The key technique of Previewed Reality is the time shifteffect. In an informationally structured environment such as
B-Sen, information is obtained using a sensor network, androbot motion can be planned beforehand. The near-future
events can be forecast by the robot planner or simulatorssuch as Choreonoid or Gazebo. A simulation is performed
based on the current real status of objects, furniture, humans,
and robots sensed and stored by ROS-TMS. Therefore, we
can show highly realistic VR images of near-future events372

to a human via an immersive VR display or smart glasses.
A. System overview
In B-sen, information such as the position of objects on ashelf or table or in a refrigerator, and the pose of a humanand a robot, are sensed in real time and stored in the databaseusing TMS SD in ROS-TMS 4.0 (Fig. 2), as shown in Fig.
10. Fig. 11 shows a robot, a can, and a table registered

1

2

3

4

Fig. 12. Dynamic simulation of object grasping by Gazebo. In this case,the robot fails to grasp the object, which then bounces away.

(a) Objects in real cabinet(b) Objects in virtual cabinet

B. System configuration

Fig. 10. Objects in (a) real and (b) virtual worlds. The location and typeof objects on a virtual shelf are automatically registered in the database by
RFID tags and load cells.

To realize Previewed Reality, the system has to show an
actual scene to a user through the immersive VR interface.
Though we can use see-through smart glasses such as
Moverio (Epson), we adopted a stereo camera (Ovrvision)that can be attached on Oculus Rift DK2, as shown in Fig. 6.
We captured RGB images at 60 Hz. As a dynamic simulator,
we used Gazebo 6, which supports Oculus Rift DK2. Virtual
images synthesized by Gazebo are overlaid on real images
taken by the stereo camera and provided to the left andright eyes individually. In our system, the eye position in
the real world must coincide very precisely with the eye
position in the simulator. An error in these positions induces
an uncomfortable feeling in the user, because the real image
and the virtual image do not overlap precisely. Therefore,
we carefully calibrated the camera parameters of the stereo
camera and Oculus Rift DK2, and the display parameters inGazebo. We also adjusted dynamic parameters such as themass and shape of the objects in B-Sen so that we could
precisely reflect the real-world environmental information in
the dynamic simulation.
The motions of robots in B-sen are planned by ROS-TMS,
which plans the performance of each robot, the tasks, thepositions, and the objects [12]. Therefore, the planned motions can be examined in advance by the Gazebo simulator.
By showing the planned motions on the screens of Oculus
Rift DK2, the user can see the motions before the robot
actually performs them. For example, hand motions or joint
trajectories of the arm for grasping tasks (e.g., Fig. 12) aredesigned by the motion planner MoveIt! in the TMS RP
module of ROS-TMS (Fig. 2). Therefore, before sending
planned commands to the actual robot, the virtual robot inGazebo can perform the desired motions by sending thesame commands to Gazebo. In addition, because Gazebo isa dynamic simulator, it is possible to predict interactions
such as collision or slippage involving the robot and objects.
The trajectory of the robot to a desired location is plannedin ROS-TMS as Voronoi edges [12]. As a result, we candisplay the robot movement along the desired trajectory on
the screens of Oculus Rift DK2 before the robot actually
moves on the floor.

automatically in the database. These images are displayedin real time on the immersive VR interface.

Real images
Immersive display(a) Original scene

Real images
Immersive display(b) Scene after a robot, a can, and a table are registered.
Fig. 11. Robots, objects, and furniture automatically registered in thesimulator and displayed as the images on the immersive VR interface.

Simulations reflecting the current situation of objects,
robots, and humans in B-sen can be performed in ROSTMS 4.0 using a kinematic simulator such as Choreonoid
or a dynamic simulator such as Gazebo. For example, we
can estimate in advance whether a robot will grasp an object
using its current finger configuration, or if it fails, in which
direction the object will bounce, as shown in Fig. 12. Thus,
if we can estimate the motion of objects or robots in B-sen,
we can predict near-future events.
We developed the near-future perception system, Previewed Reality, by combining the immersive VR interface
and the estimation of near-future events in B-sen. For example, we consider the case in which a robot raises its hand to
give an object to a user. If the user can see the robot motion
a few seconds before it occurs and senses danger, the user
can leave his/her current position or stop the robot motion inadvance. Therefore, Previewed Reality allows us to co-exist
with robots more safely.
373

V. E XPERIMENT OF P REVIEWED R EALITY

Real robot

We conducted two kind of experiments by the developed
system to confirm the validity and the performance ofPreviewed Reality.
First, we conducted experiments to confirm that the user
can see the virtual image from the current viewpoint in BSen. Fig. 13 shows the human positions and corresponding
images displayed on the screens of Oculus Rift DK2. Because the user can see that the virtual images almost coincidewith the actual images from the viewpoints measured byVicon Bonita, the user can safely walk in B-Sen.

Virtual robot(a) Virtual robot moves and real robot traces it.

Virtual robot

Real robot(b) Virtual robot grasps and real robot traces it.
Fig. 14.

Previewed Reality displayed on the screens of Oculus Rift DK2satisfactory. Another problem is the calibration error in theimmersive VR display and the stereo camera. Because both
optical systems are subject to a large amount of distortion,
as shown in Fig. 16, we removed the distortion as much as
possible. However, precise calibration is quite difficult andremains an open problem.
VI. C ONCLUSIONSThe proposed Previewed Reality system, which displays
near-future scenes to a user directly and intuitively, is beneficial in situations where humans and robots are close together,such as in a house or a production line in a factory. Mostof studies in robotics have been focused to plan and execute
collision free trajectories and tasks by robots. On the other
hand, in the present study, the user avoids the collision withthe robot at once by watching future robot behaviors, andwe believe this would be another solution for human androbot to coexist safely. Currently, the developed system uses
a goggle-type immersive VR display and a stereo camera.
However, we can use smart glasses with screens, such as
Epson Moverio (Fig. 5), which is lighter and easy to use.
Thus, we believe the proposed Previewed Reality can be usedin our daily lives in the near future. In addition, because thetiming for displaying near-future events is quite interestingfrom the standpoint of psychology, we intend to investigate
the proper timing for a human to feel comfortable.

Fig. 13. Real images (left) and virtual images displayed on the immersive
VR display (right). The current viewpoint of the user is measured by the
optical tracking system in B-Sen.

Next, we conducted basic experiments to confirm Previewed Reality using the developed system. We used ahumanoid service robot, SmartPal V (Yaskawa Electric) in
the experiment. Fig. 14 shows the overlaid images of realscenes taken by the stereo camera and the virtual robot,
whose motions are planned by ROS-TMS in advance. Fig.
15 shows another example of Previewed Reality. In this case,if the user approaches the robot and the robot has been
instructed to start moving within a short time, the virtual
robot colored red, which means the user will corride with therobot, appears on the screens of Oculus Rift DK2, and theuser can see the motion that will soon be performed by thereal robot. More precisely, the same commands determinedby the motion planner MoveIt! are sent to the virtual andactual robots. However, by using AR techniques to show theplanned motion by the virtual robot to the user in advance,
the user can recognize the robot motion directly and avoid
hazardous situations that could occur a few seconds later.
One of the current problems in the experimental system isthe latency between the measurement of the optical tracker
and image production. Because a large latency causes motion
sickness, it is necessary to make the latency as small as
possible. At present, the typical latency is about 0.2 s inour system. Although we employed a gyro sensor in Oculus
Rift DK2 to suppress the latency, currently the sensor is not

ACKNOWLEDGMENT
This research was supported by The Japan Science andTechnology Agency (JST) through its “Center of Innovation
Science and Technology based Radical Innovation and Entrepreneurship Program (COI Program)” and by a Grant-inAid for Challenging Exploratory Research (16K14199).
R EFERENCES[1] T. Sato, Y. Nishida, and H. Mizoguchi, “Robotic room: Symbiosis withhuman through behavior media,” Robotics and Autonomous Systems,
vol. 18, no. 1-2, pp. 185–194, 1996.

374

(a) Before calibration(a) User approaches the table

Fig. 16.

(b) After calibration

Distorted stereo image and calibrated image.

middleware,” in IEEE/RSJ International Conference on Intelligent
Robots and Systems, pp. 2008–2014, 2006.
[8] K.-H. Park, Z. Bien, J.-J. Lee, B. K. Kim, J.-T. Lim, J.-O. Kim, H. Lee,D. H. Stefanov, D.-J. Kim, J.-W. Jung, et al., “Robotic smart house to
assist people with movement disabilities,” Autonomous Robots, vol. 22,
no. 2, pp. 183–198, 2007.
[9] Y. Kato, T. Izui, Y. Tsuchiya, M. Narita, M. Ueki, Y. Murakawa,
and K. Okabayashi, “Rsi-cloud for integrating robot services withinternet services,” in IECON 2011 - 37th Annual Conference on IEEE
Industrial Electronics Society, pp. 2158–2163, 2011.
[10] H. Gross, C. Schroeter, S. Mueller, M. Volkhardt, E. Einhorn, A. Bley,
C. Martin, T. Langner, and M. Merten, “I’ll keep an eye on you: Home
robot companion for elderly people with cognitive impairment,” inIEEE International Conference on Systems, Man, and Cybernetics,
pp. 2481–2488, 2011.
[11] M. Tenorth, A. Perzylo, R. Lafrenz, and M. Beetz, “The roboearth
language: Representing and exchanging knowledge about actions,objects, and environments,” in IEEE International Conference on on
Robotics and Automation, pp. 1284–1289, 2012.
[12] Y. Pyo, K. Nakashima, S. Kuwahata, R. Kurazume, T. Tsuji, K. Morooka, and T. Hasegawa, “Service robot system with an informationallystructured environment,” Robotics and Autonomous Systems, vol. 74,
no. Part A, pp. 148–165, 2015.
[13] “Ros-tms.” http://irvs.github.io/ros_tms/.
[14] R. Kurazume, Y. Pyo, K. Nakashima, T. Tsuji, and A. Kawamura,“Feasibility study of iort platform ”big sensor box”,” in IEEE International Conference on Robotics and Automation, 2017.
[15] S. Marks, J. E. Estevez, and A. M. Connor, “Towards the holodeck:
Fully immersive virtual reality visualisation of scientific and engineering data,” in 29th International Conference on Image and Vision
Computing New Zealand (IVCNZ ’14), pp. 42–47, 2014.
[16] Y. Pyo, T. Tsuji, Y. Hashiguchi, and R. Kurazume, “Immersive vr interface for informationally structured environment,” inIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2015), pp. pp.1766–1771, 2015.
[17] J. F. Boggess, “Robotic surgery in gynecologic oncology: evolution ofa new surgical paradigm,” Journal of Robotic Surgery, vol. 1, pp. 31–
37, 3 2007.
[18] M. Bro-Nielsen, J. L. Tasto, R. Cunningham, and G. L. Merril,“Preop endoscopic simulator: a pc-based immersive training systemfor bronchoscopy,” Stud Health Technol Inform, vol. 62, pp. 76–82,
1999.
[19] http://www.engadget.com/2013/12/23/
nasa-jpl-control-robotic-arm-kinect-2/.
[20] H. Martins, I. Oakley, and R. Ventura, “Design and evaluation of ahead-mounted display for immersive 3d teleoperation of field robots,”
Robotica, vol. FirstView, pp. 1–20, 1 2015.
[21] C. Cruz-Neira, D. J. Sandin, and T. A. DeFanti, “Surround-screen
projection-based virtual reality: The design and implementation of
the cave,” in 20th Annual Conference on Computer Graphics andInteractive Techniques, SIGGRAPH ’93, (New York, NY, USA),pp. 135–142, ACM, 1993.
[22] V. Vlahakis, M. Ioannidis, J. Karigiannis, M. Tsotros, M. Gounaris,
D. Stricker, T. Gleue, P. Daehne, and L. Almeida, “Archeoguide: anaugmented reality guide for archaeological sites,” IEEE Computer
Graphics and Applications, vol. 22, no. 5, pp. 52–60, 2002.
[23] T. Kakuta, T. Oishi, and K. Ikeuchi, “Development and evaluation ofasuka-kyo mr contents with fast shading and shadowing,” Journal of
Image Information and Television Engineers, vol. 62, no. 9, pp. 1466–
1473, 2008.

(b) Virtual robot appears(c) User steps back to avoid collision(d) Virtual robot moves.

(e) Real robot moves and user approaches the table
Fig. 15. If the user approaches the robot, which is instructed to startmoving, the virtual robot is displayed to notify the user about this movementin advance.

[2] J.-H. Lee, N. Ando, and H. Hashimoto, “Design policy of intelligent
space,” in Proceedings on 1999 IEEE International Conference on
Systems, Man, and Cybernetics, vol. 3, pp. 1077–1082 vol.3, 1999.
[3] A. P. Pentland, “Smart rooms,” Scientific American, vol. 274, no. 4,
pp. 54–62, 1996.
[4] R. A. Brooks, “The intelligent room project,” in 2nd International
Conference on Cognitive Technology (CT ’97), CT ’97, (Washington,
DC, USA), pp. 271–278, IEEE Computer Society, 1997.
[5] J. A. Kientz, S. N. Patel, B. Jones, E. Price, E. D. Mynatt, andG. D. Abowd, “The georgia tech aware home,” in CHI ’08 Extended
Abstracts on Human Factors in Computing Systems, CHI EA ’08,
(New York, NY, USA), pp. 3675–3680, ACM, 2008.
[6] S. Sugano and Y. Shirai, “Robot design and environment design waseda robot-house project,” in International Joint Conference SICEICASE, 2006, pp. I–31–I–34, Oct 2006.
[7] H. Noguchi, T. Mori, and T. Sato, “Automatic generation and connection of program components based on rdf sensor description in network375