{"created":"2025-01-19T01:30:14.259181+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00230458","sets":["6504:11436:11441"]},"path":["11441"],"owner":"44499","recid":"230458","title":["四足歩行機能を有する車両型ロボットの自律移動"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-02-16"},"_buckets":{"deposit":"483f881a-dd2a-4c45-a08b-3ce23d25e509"},"_deposit":{"id":"230458","pid":{"type":"depid","value":"230458","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"四足歩行機能を有する車両型ロボットの自律移動","author_link":["620909","620910"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"四足歩行機能を有する車両型ロボットの自律移動"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ネットワーク","subitem_subject_scheme":"Other"}]},"item_type_id":"22","publish_date":"2023-02-16","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":"名大"},{"subitem_text_value":"名大"}]},"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/230458/files/IPSJ-Z85-1ZC-08.pdf","label":"IPSJ-Z85-1ZC-08.pdf"},"date":[{"dateType":"Available","dateValue":"2023-11-17"}],"format":"application/pdf","filename":"IPSJ-Z85-1ZC-08.pdf","filesize":[{"value":"379.7 kB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"d3e89752-bad3-4c6d-a234-e5731386e4d0","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"柴田, 泰雅"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"長尾, 確"}],"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":"近年，労働者人口の減少により工場や病院などでの自律移動ロボットの需要が高まっており，段差や階段などの屋内環境に依存しないロボットの重要性が高まることが予想される．本研究では，車両型ロボットの移動の自由度を高めるためロボットに四足歩行機能を搭載し，その自律移動を階層的強化学習により学習した． モデルの階層化を行うため，四足歩行モードと車両モードでそれぞれ障害物回避の強化学習を行い学習した行動を分析した．その結果，深度画像やゴールとの方向などを処理する探索に関わる階層の出力が同じ表現空間のベクトルであったため，その階層を共通化したモデルの学習を行った．","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"386","bibliographic_titles":[{"bibliographic_title":"第85回全国大会講演論文集"}],"bibliographicPageStart":"385","bibliographicIssueDates":{"bibliographicIssueDate":"2023-02-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2023"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":230458,"updated":"2025-01-19T11:08:21.032832+00:00","links":{}}