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Recently, the development of "haptic recording" is demanded, and a motion-copying system is one of good methods for realization haptic recording. The haptic recording is the technology for saving and reproducing human motion based on haptic information which is constructed by position and force information. One of the problems of the motion-copying system is that the saved human motion is reproduced in the only case when the environmental location of acquisition step and reproduction step is completely same.In this paper, the method which considers the case when the environmental location is different is proposed. If environmental location is change, there is the error between the coordinate of the position control and it of the force control. In the proposed method, the coordinate of position controller is modified by the force error between the acquisition and reproduction steps. The availability of the proposed method is shown by experiments. By the proposed method, the motion-copying system is more useful for preservation and reproduction of human motions.

In this paper, a method for estimating parameters of a 3-D shape f r om a 2-D shading image using a genetic algorithms (GAs) is proposed. The shape of the object is represented by a superquadrics model, and then the model parameters are c oded for being applied t o GAs. The coded string is evaluated a c cording to the similarity of the shading image calculated f r om the 3-D m o del shape r epresented by the parameters to the given 2-D shading image. By applying the GAs to the optimization of the evaluation value, the string having the minimum dierence c an be found. The parameters are estimated f r om some shading images of various 3-D shapes by using the proposed method, and the results are p r esented.

| 3-D shape modeling is very important for ecient shape description and recognition. Superquadrics that is a parametric 3-D shape modeling function can represent v arious shapes by using a single equation with some parameters. In this study, the superquadrics parameters of 3-D shape are estimated from a 2-D shading image by using genetic algorithm (GA), which is an optimizing technique based on mechanisms of natural selection. Ten parameters, which are ve parameters of the superquadrics shape, three eular angle parameters, and two shift parameters, are coded as a string in the GA. The string is evaluated by the dierence between the given 2-D shading image and the calculated shading image from the 3-D shape represented by the parameters. By applying the GA to the optimization of the evaluation value, the string having the minimum dierence is sought. The parameters are estimated from some shading images of various 3-D shapes by using the proposed method, and the results are presented.

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