{"created":"2021-03-01T06:29:09.095810+00:00","id":21476,"links":{},"metadata":{"_buckets":{"deposit":"251be7fd-8c8c-4a6a-b16f-810f9ac28f18"},"_deposit":{"id":"21476","owners":[],"pid":{"revision_id":0,"type":"depid","value":"21476"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00021476","sets":["320:321:322"]},"author_link":["62490","62491","62492","62493","62494","62495"],"item_10_alternative_title_19":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Motion Adaptation of a Multijoint Arm using Inverse Statics and Dynamics Models","subitem_alternative_title_language":"en"}]},"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2011-02-28","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"461","bibliographicPageEnd":"210","bibliographicPageStart":"205","bibliographicVolumeNumber":"110","bibliographic_titles":[{"bibliographic_title":"電子情報通信学会技術研究報告. NC, ニューロコンピューティング","bibliographic_titleLang":"ja"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"これまで,生体の運動制御を意識した運動制御スキームとして,制御対象の逆モデルを利用した運動適応手法を提案してきた.このスキームは軌道誤差と逆モデルの勾配情報に基づいて,ニュートン法により運動指令を繰返し修正し,目標軌道を追従する運動指令を得る方法である.本論文では,これを逆モデルの静的なモジュールである逆スタティクスモデル(ISM)と動的なモジュールである逆ダイナミクスモデル(IDM)に分けたシステムへ拡張する.提案する手法では,ISMを事前に獲得することで重力補償が行われ,運動環境のより大きな変化に対し運動適応できることが期待される.2リンクアームの運動制御について,計算機シミュレーションと実機実験により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":"We have proposed a motion adaptation scheme using an inverse model of a controlled object based on human motion control. This scheme iteratively corrects the motor command by a Newton-like method based on the gradient of an inverse model and trajectory errors, and gives the motor command for a desired trajectory. In the current study, we extend this iterative control scheme to a modular system that consists of an inverse dynamics model (IDM) and an inverse statics model (ISM). In the proposal scheme, gravity factor is compensated by an acquired ISM a priori, and the motion adaptation is expected to cope with various changes of a movement environment. The effectiveness of the scheme is confirmed by computational simulation and actual experiments of a 2-link arm.","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":"http://ci.nii.ac.jp/naid/110008689848/"},{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/2237/23623"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"一般社団法人電子情報通信学会","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":"http://ci.nii.ac.jp/naid/110008689848/","subitem_relation_type_select":"URI"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"(c)一般社団法人電子情報通信学会 本文データは学協会の許諾に基づきCiNiiから複製したものである","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":"09135685","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":"62490","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"田地, 宏一","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"62491","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"宇野, 洋二","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"62492","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"OTANI, Masashi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"62493","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"TAJI, Kouichi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"62494","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"UNO, Yoji","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"62495","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":"110008689848.pdf","filesize":[{"value":"868.1 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"110008689848.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/21476/files/110008689848.pdf"},"version_id":"b81bab9a-56df-4c29-8923-4bcd776f673a"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"運動適応","subitem_subject_scheme":"Other"},{"subitem_subject":"反復制御","subitem_subject_scheme":"Other"},{"subitem_subject":"逆スタティクスモデル","subitem_subject_scheme":"Other"},{"subitem_subject":"逆ダイナミクスモデル","subitem_subject_scheme":"Other"},{"subitem_subject":"ニューラルネットワーク","subitem_subject_scheme":"Other"},{"subitem_subject":"Motion adaptation","subitem_subject_scheme":"Other"},{"subitem_subject":"Iterative control","subitem_subject_scheme":"Other"},{"subitem_subject":"Inverse statics model","subitem_subject_scheme":"Other"},{"subitem_subject":"Inverse dynamics model","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":"逆スタティクス・ダイナミクスモデルを用いた多関節腕の運動適応","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"逆スタティクス・ダイナミクスモデルを用いた多関節腕の運動適応","subitem_title_language":"ja"}]},"item_type_id":"10","owner":"1","path":["322"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2016-02-25"},"publish_date":"2016-02-25","publish_status":"0","recid":"21476","relation_version_is_last":true,"title":["逆スタティクス・ダイナミクスモデルを用いた多関節腕の運動適応"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T04:10:40.790898+00:00"}