{"created":"2021-03-01T06:26:04.886428+00:00","id":18653,"links":{},"metadata":{"_buckets":{"deposit":"620bbb80-75e9-4fbf-a65a-4b47057f179b"},"_deposit":{"id":"18653","owners":[],"pid":{"revision_id":0,"type":"depid","value":"18653"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00018653","sets":["320:321:322"]},"author_link":["54282","54283","54284","54285","54286","54287"],"item_10_alternative_title_19":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Motion Adaptation with Iterative Control Using Inverse-Dynamics Model","subitem_alternative_title_language":"en"}]},"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2012-02","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"313","bibliographicPageStart":"305","bibliographicVolumeNumber":"J95D","bibliographic_titles":[{"bibliographic_title":"電子情報通信学会論文誌D","bibliographic_titleLang":"ja"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"人の脳内には内部モデルと呼ばれるフィードフォワード制御を担う機構があると考えられている．しかし，様々な運動環境に対し固有の内部モデルを保有しているとは考えにくく，主となる内部モデルを利用し，その出力を修正し目的の動作に合った運動指令の生成を行っていると考えられる．この考えに基づき，運動環境の変化に対する運動適応手法を提案する．提案する手法では，まずニューラルネットワークに制御対象のダイナミックスを学習し，逆モデル（内部モデル）を構成する．そして，運動環境の変化に対し逆モデルを用いて運動指令の誤差を推定し修正する．計算機シミュレーションと実機実験による検証を行い，この手法の有効性を確認した．","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"It is thought that the human brain has a mechanism called an internal model that works as a feed-forward controller. However, it is difficult to see that there are peculiar internal models corresponding to various movement environments, and it seems natural that the motor command for desired motion is generated by modifying the output from the principal internal models. Based on this idea, we propose a motion adaptation method for the change of movement environment. The method first learns the dynamics of the controlled object, and constructs the inverse model (internal model) in a neural network. After the change of movement environment, the method modifies the motor command by estimating the deviation between the correct and current motor commands using the inverse model. The effectiveness of the proposed method is confirmed by computational simulation and real machine experiments.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10_identifier_60":{"attribute_name":"URI","attribute_value_mlt":[{"subitem_identifier_type":"URI","subitem_identifier_uri":"https://search.ieice.org/"},{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/2237/20750"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"電子情報通信学会","subitem_publisher_language":"ja"}]},"item_10_relation_43":{"attribute_name":"関連情報","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://search.ieice.org/","subitem_relation_type_select":"URI"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2012 電子情報通信学会","subitem_rights_language":"ja"}]},"item_10_select_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"publisher"}]},"item_10_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1880-4535","subitem_source_identifier_type":"PISSN"}]},"item_1615787544753":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"大谷, 将司","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"54282","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"田地, 宏一","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"54283","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"宇野, 洋二","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"54284","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"OTANI, Masashi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54285","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"TAJI, Kouichi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54286","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"UNO, Yoji","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54287","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-02-21"}],"displaytype":"detail","filename":"j95-d_2_305.pdf","filesize":[{"value":"1.4 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"j95-d_2_305.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/18653/files/j95-d_2_305.pdf"},"version_id":"6e7f57df-77e9-482d-8906-0560e0400d06"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"逆ダイナミックスモデル","subitem_subject_scheme":"Other"},{"subitem_subject":"反復制御","subitem_subject_scheme":"Other"},{"subitem_subject":"運動適応","subitem_subject_scheme":"Other"},{"subitem_subject":"ニューラルネットワーク","subitem_subject_scheme":"Other"},{"subitem_subject":"inverse dynamics model","subitem_subject_scheme":"Other"},{"subitem_subject":"iterative control","subitem_subject_scheme":"Other"},{"subitem_subject":"motion adaptation","subitem_subject_scheme":"Other"},{"subitem_subject":"neural network","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"逆ダイナミックスモデルを用いた反復制御による運動適応","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"逆ダイナミックスモデルを用いた反復制御による運動適応","subitem_title_language":"ja"}]},"item_type_id":"10","owner":"1","path":["322"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2014-11-10"},"publish_date":"2014-11-10","publish_status":"0","recid":"18653","relation_version_is_last":true,"title":["逆ダイナミックスモデルを用いた反復制御による運動適応"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T04:07:13.657662+00:00"}