{"id":39085,"updated":"2025-01-22T13:03:18.445375+00:00","links":{},"created":"2025-01-18T23:06:31.800145+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00039085","sets":["1164:3206:3324:3330"]},"path":["3330"],"owner":"1","recid":"39085","title":["シミュレーションによる移動物体間の衝突検出"],"pubdate":{"attribute_name":"公開日","attribute_value":"1988-02-26"},"_buckets":{"deposit":"c6d702dc-c5fc-4928-9e3d-63155539cc50"},"_deposit":{"id":"39085","pid":{"type":"depid","value":"39085","revision_id":0},"owners":[1],"status":"published","created_by":1},"item_title":"シミュレーションによる移動物体間の衝突検出","author_link":["0","0"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"シミュレーションによる移動物体間の衝突検出"},{"subitem_title":"Collision Detection among Moving Objects in Simulation","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"1988-02-26","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"日本アイ・ビー・エム（株）東京基礎研究所"},{"subitem_text_value":"日本アイ・ビー・エム（株）東京基礎研究所"},{"subitem_text_value":"日本アイ・ビー・エム（株）東京基礎研究所"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"IBM JAPAN, Tokyo Research Laboratory","subitem_text_language":"en"},{"subitem_text_value":"IBM JAPAN, Tokyo Research Laboratory","subitem_text_language":"en"},{"subitem_text_value":"IBM JAPAN, Tokyo Research Laboratory","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/39085/files/IPSJ-CG87031003.pdf"},"date":[{"dateType":"Available","dateValue":"1990-02-26"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-CG87031003.pdf","filesize":[{"value":"1.3 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":"28"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"1b3bb3ec-99f2-4761-89bd-4abc9b5f1006","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 1988 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"嶋田, 憲司"},{"creatorName":"岡野, 彰"},{"creatorName":"川辺, 真嗣"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Kenji, Shimada","creatorNameLang":"en"},{"creatorName":"Akira, Okano","creatorNameLang":"en"},{"creatorName":"Shinji, Kawabe","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10100541","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_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"本報告では、シミュレーションによって移動物体間の衝突を検出するための二つの方法を提案する。ひとつの方法は従来の交点計算法の考え方をもとに、さらに形状要素の3次元運動を時間の関数として一般的に表現できるように拡張したものである。これによってロボットの複雑な動作に対しても見逃しなく衝突が検出でき、その時刻と状態が算出できる。また、もうひとつの方法は、ある軌道における衝突発生の可能性を判断できる判別条件を導入し、この条件の判別と軌道の2分割を再帰的に繰り返すことによって衝突を検出するものである。この方法では衝突の可能性が小さい場合に非常に少ない計算量で処理が終わるので、平均的な計算量は従来のサンプリング法をnとしたときlog_2(n)に改善される。これら二つの方法は、筆者らが開発中のオフラインロボットプログランミングシステムのために考案されインプリメントされたものである。","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"This paper describes two algorithms of different types for detecting collisions between moving objects in simulation. In the first, we propose a general way of expressing the 3D trajectory of a geometric element as a function of time; the basic idea of the algorithm is the same as that of the conventional intersection calculation method. By using the algorithm we can detect a collision with absolute certainty, and know the time and status of the collision even in the complex 3D motions of robots. In the second algorithm, we have introduced a condition which can indicate whether or not any collisions may occur in a trajectory. If any collisions may occur, the trajectory is divided into two parts. By recursively repeating this process, we can detect a collision. The average computational cost is reduced to log_2(n), where n expresses the cost of the conventional sampling method. Both of the algorithms were proposed and implemented for our off-line robot motion programming system.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"7","bibliographic_titles":[{"bibliographic_title":"情報処理学会研究報告グラフィクスとCAD（CG）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"1988-02-26","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"15(1987-CG-031)","bibliographicVolumeNumber":"1988"}]},"relation_version_is_last":true,"weko_creator_id":"1"}}