Grant amount：\4290000 （ Direct Cost: \3300000 、 Indirect Cost：\990000 ）

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Grant amount：\17680000 （ Direct Cost: \13600000 、 Indirect Cost：\4080000 ）

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Grant amount：\4420000 （ Direct Cost: \3400000 、 Indirect Cost：\1020000 ）

For creation of attractive embodied communication agents, motion generation engine to enable both various reactions according to situation and capable of handcrafting expressive animations are important. We propose reactive animation framework for characters which is based on reaching motion, realized by minimum jerk trajectory, inverse kinematics and physics simulation. In addition, we realized conversion method from conventional motion data into reaching motion based reactive animation, and autonomous addition of micro-slipping by mimicking memory and perception mechanisms.

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Grant amount：\17680000 （ Direct Cost: \13600000 、 Indirect Cost：\4080000 ）

It is known that when rubbing an object with a finger, vibration due to sticking slip occurs, which affects the material feeling of the object. The purpose of this research is to reproduce this by constructing a physical model and simulating it. During this research period, we constructed a simulation model of a finger and an object that can generate a vibration waveform equivalent to that during actual rubbing. In addition, the parameters of the model were identified from the vibration waveforms measured for four materials, and it was confirmed that the feel can be reproduced to some extent by rendering using the parameters. Moreover, in order to include the shape deformation of the fingertip and the surface of the object in the simulation model, a method of the simulation and the haptic rendering of flexible deformable objects was proposed.

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Grant amount：\4290000 （ Direct Cost: \3300000 、 Indirect Cost：\990000 ）

We aimed to realize motion generation for embodied conversational agents utilizing physics engine for natural synthesis of motion.
Firstly, we focused on "Forward Inverse Relaxation Model (FIRM)" of human hand reaching motion. We created physics engine based FIRM computation method, which is easy to use and generate smooth and natural motion. Also, we created motion design environment for creating characteristic behaviors of virtual agents utilizing physics engine based motion generation. On the other hand, facial expressions or voice pitch cannot be generated with physical simulation. Therefore, we also researched on HMM based machine learning method of conversation model based on real conversation examples.
Moreover, we also created new display for appropriate gaze expression of agents. With 2 layered LCD, we realized low-cost and high resolution display which can show eye-contact only for limited view position.

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