{"updated":"2025-01-19T09:04:53.993796+00:00","links":{},"created":"2025-01-19T01:39:12.274415+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00236888","sets":["6504:11678:11684"]},"path":["11684"],"owner":"44499","recid":"236888","title":["階段昇降機能を持つ変形可能な4脚車いす"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-03-01"},"_buckets":{"deposit":"087c4f97-ba75-4bbf-b504-9b74c8e18326"},"_deposit":{"id":"236888","pid":{"type":"depid","value":"236888","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"階段昇降機能を持つ変形可能な4脚車いす","author_link":["647701","647700"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"階段昇降機能を持つ変形可能な4脚車いす"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"コンピュータと人間社会","subitem_subject_scheme":"Other"}]},"item_type_id":"22","publish_date":"2024-03-01","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/236888/files/IPSJ-Z86-2ZH-07.pdf","label":"IPSJ-Z86-2ZH-07.pdf"},"date":[{"dateType":"Available","dateValue":"2024-07-04"}],"format":"application/pdf","filename":"IPSJ-Z86-2ZH-07.pdf","filesize":[{"value":"594.7 kB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"024b9a9c-bfd6-4778-9f3a-5474cd082634","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"赤見坂, 篤記"}],"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":"車いすは足腰の不自由な方々にとって重要な移動手段である．しかし，構造的な理由から，階段のような段差のある経路の移動は不可能であり，車いす利用者の移動に制限を課している．本研究では，4脚車輪ロボットの移動性の高さに注目し，これと車いすとを融合した4脚車いすを提案する．4脚車いすで階段の昇降を実現するには，正確な制御モデルを作成する必要があるが，それにはモデル化が困難な搭乗者の情報も必要となるため，制御モデル構築の難易度は高い．そこで，4脚車いすのシミュレータを作成し，カリキュラム学習を採り入れた強化学習による，搭乗者を含めた車いすの階段昇降動作の獲得を行った．","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"562","bibliographic_titles":[{"bibliographic_title":"第86回全国大会講演論文集"}],"bibliographicPageStart":"561","bibliographicIssueDates":{"bibliographicIssueDate":"2024-03-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2024"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":236888}