{"id":210278,"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00210278","sets":["1164:5336:10549:10550"]},"path":["10550"],"owner":"44499","recid":"210278","title":["協働ロボットアームのためのハンズフリー制御手法の提案"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-03-09"},"_buckets":{"deposit":"574afda7-9b5d-4aed-b5a5-a2be1af9020f"},"_deposit":{"id":"210278","pid":{"type":"depid","value":"210278","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"協働ロボットアームのためのハンズフリー制御手法の提案","author_link":["531868","531869","531867","531866"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"協働ロボットアームのためのハンズフリー制御手法の提案"}]},"item_type_id":"4","publish_date":"2021-03-09","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"神戸大学大学院工学研究科"},{"subitem_text_value":"神戸大学大学院工学研究科"},{"subitem_text_value":"神戸大学大学院工学研究科"},{"subitem_text_value":"神戸大学大学院工学研究科"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Engineering, Kobe University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Engineering, Kobe University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Engineering, Kobe University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Engineering, Kobe 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/210278/files/IPSJ-EC21059043.pdf","label":"IPSJ-EC21059043.pdf"},"date":[{"dateType":"Available","dateValue":"2023-03-09"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EC21059043.pdf","filesize":[{"value":"8.3 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":"40"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"5cb1f381-06e8-4cbe-84d0-d5a3d19d53f6","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"木村, 拓己"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"土田, 修平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"寺田, 努"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"塚本, 昌彦"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12049625","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":"2188-8914","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，産業分野において作業者と同じ空間で連携して作業する協働ロボットアームの導入が進められており，作業者が作業を進めつつロボットアームを操作できれば，作業効率の向上が期待できる．しかし，作業者の身体動作の制約とロボットアーム動作への割り当て方法を体系的にまとめた研究は筆者らの知る限りなく，作業の種類によってはかえって作業者の行動を制限してしまう可能性がある．作業者が多様な状況下でロボットアームを自由に操作するためには，作業者を取り巻く環境や作業者自身が取りうる動作から作業者の身体が受ける制約を考慮した上で，作業者を取り巻く状況ごとに適したロボットアームの身体動作を用いた制御システムを設計するための指針を確立する必要があるといえる．本論文では，作業者を取り巻く状況ごとに適したロボットアームの制御システムの設計指針の確立を目指すために，特に工場での作業に着目し，その特徴や作業者の身体動作が受ける制約について検討した上で，身体動作を用いたロボットアーム制御システムを設計・実装し，ロボットアームを制御して与えられたタスクを完了するまでにかかる時間の測定および各身体部位の動作を用いたロボットアームの制御のしやすさに関する評価を行った．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告エンタテインメントコンピューティング（EC）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2021-03-09","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"43","bibliographicVolumeNumber":"2021-EC-59"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T18:12:22.161579+00:00","created":"2025-01-19T01:11:32.004067+00:00","links":{}}