{"id":159157,"updated":"2025-01-20T12:46:08.172549+00:00","links":{},"created":"2025-01-19T00:32:17.719527+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00159157","sets":["1164:4619:8450:8687"]},"path":["8687"],"owner":"11","recid":"159157","title":["RGB-D画像からの把持パタン想起に基づくハンドアームによる物体把持"],"pubdate":{"attribute_name":"公開日","attribute_value":"2016-05-05"},"_buckets":{"deposit":"e203aac0-a514-46ca-868b-430422fad54c"},"_deposit":{"id":"159157","pid":{"type":"depid","value":"159157","revision_id":0},"owners":[11],"status":"published","created_by":11},"item_title":"RGB-D画像からの把持パタン想起に基づくハンドアームによる物体把持","author_link":["306058","306060","306059","306055","306056","306057","306062","306061"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"RGB-D画像からの把持パタン想起に基づくハンドアームによる物体把持"},{"subitem_title":"Grasping an Object by a Hand-Arm Robot Based on Human Interaction Recalled from RGB-D Image","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"卒論スポットライトセッション","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2016-05-05","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"立命館大学"},{"subitem_text_value":"立命館大学"},{"subitem_text_value":"立命館大学"},{"subitem_text_value":"立命館大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Ritsumeikan University","subitem_text_language":"en"},{"subitem_text_value":"Ritsumeikan University","subitem_text_language":"en"},{"subitem_text_value":"Ritsumeikan University","subitem_text_language":"en"},{"subitem_text_value":"Ritsumeikan University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/159157/files/IPSJ-CVIM16202012.pdf","label":"IPSJ-CVIM16202012.pdf"},"date":[{"dateType":"Available","dateValue":"2018-05-05"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-CVIM16202012.pdf","filesize":[{"value":"10.0 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"20"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"b5e331ff-eecf-4410-b7b3-2d3b6733a0b1","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2016 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"矢野, 将基"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"福原, 宏弥"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松尾, 直志"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"島田, 伸敬"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Masaki, Yano","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hiroya, Fukuhara","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tadashi, Matsuo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nobutaka, Shimada","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11131797","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8701","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"物体が写った画像から人間がその物体を把持している様子を想起し，想起結果から把持位置・姿勢を獲得して物体把持を行う手法を提案する．物体のみが写った様子と，その物体を人間が把持している様子のペアを用いて，人間がその物体を把持する際の手と物体の関係性を学習しておく．そして，形状の似た未知の物体が写った画像が与えられた際に，人間がその物体のどの部分を，どのように把持するかを想起する．これにより，人間がその物体を把持する際，物体のどの部分に，どのような手の姿勢で触れるかが分かるため，その情報を基にロボットの手先の目標位置と向きを求め，ハンドアームロボットによって物体把持を行う．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"We propose a method that enables a robot to grasp on object based on how a human grasps it. By observing interactions by humans, we model the relationship between a shape of an object and how to grasp it. In advance, the model is trained with pairs of images before/after a human grasps an object. We can train the model without labeling interaction between an object and a hand. With this model, a robot can recall how a human grasps an object from an appearance of the object. The robot can grasp the object by moving its hand to a point of the object where a human touches for grasp it. By experiments for actual objects, we show availability of proposed technique.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"7","bibliographic_titles":[{"bibliographic_title":"研究報告コンピュータビジョンとイメージメディア（CVIM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2016-05-05","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"12","bibliographicVolumeNumber":"2016-CVIM-202"}]},"relation_version_is_last":true,"weko_creator_id":"11"}}