{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00214982","sets":["6504:10735:10808"]},"path":["10808"],"owner":"44499","recid":"214982","title":["触覚/運動情報を用いた立体オブジェクトにおける拭き取り動作の学習"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-03-04"},"_buckets":{"deposit":"23ae7a2c-3d3a-4b9c-9ca4-f70a836fdc1d"},"_deposit":{"id":"214982","pid":{"type":"depid","value":"214982","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"触覚/運動情報を用いた立体オブジェクトにおける拭き取り動作の学習","author_link":["553274","553275","553273","553272"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"触覚/運動情報を用いた立体オブジェクトにおける拭き取り動作の学習"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"人工知能と認知科学","subitem_subject_scheme":"Other"}]},"item_type_id":"22","publish_date":"2021-03-04","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_22_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"早大"},{"subitem_text_value":"早大"},{"subitem_text_value":"早大"},{"subitem_text_value":"早大"}]},"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/214982/files/IPSJ-Z83-2Q-04.pdf","label":"IPSJ-Z83-2Q-04.pdf"},"date":[{"dateType":"Available","dateValue":"2021-12-28"}],"format":"application/pdf","filename":"IPSJ-Z83-2Q-04.pdf","filesize":[{"value":"1.4 MB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"181b4f1f-13f5-4659-861d-00e85755af4b","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"清水, 拓実"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"斎藤, 菜美子"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"尾形, 哲也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"菅野, 重樹"}],"nameIdentifiers":[{}]}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_5794","resourcetype":"conference paper"}]},"item_22_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00349328","subitem_source_identifier_type":"NCID"}]},"item_22_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"本研究の目的は、深層学習を用いたロボットアームによる容器拭き動作の実行である。容器表面を拭き取るには物体形状に従った複雑な動作が必要であり、またその三次元的な動き故に遮蔽が生じることが多い。故に本研究ではセンサとして力触覚を用いることで遮蔽や目に見えない汚れに対しても適切な拭き動作を生成することに成功した。具体的には、Multiple Timescales Recurrent Neural Network (MTRNN)を利用し、アームの関節角度および力触覚を入出力とした。実験により、既知の容器だけでなく未知の容器に対しても容器の形状に沿った拭き動作が実現できることを示した。","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"362","bibliographic_titles":[{"bibliographic_title":"第83回全国大会講演論文集"}],"bibliographicPageStart":"361","bibliographicIssueDates":{"bibliographicIssueDate":"2021-03-04","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2021"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":214982,"updated":"2025-01-19T16:22:32.626643+00:00","links":{},"created":"2025-01-19T01:15:46.238165+00:00"}