{"created":"2025-01-18T23:16:55.569036+00:00","updated":"2025-01-22T06:40:54.322464+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00052644","sets":["1164:4619:4649:4654"]},"path":["4654"],"owner":"1","recid":"52644","title":["舞踊模倣ヒューマノイドロボットにおける脚動作の認識と生成"],"pubdate":{"attribute_name":"公開日","attribute_value":"2003-03-27"},"_buckets":{"deposit":"f65c6d29-b6d1-4d60-82d8-50c383864145"},"_deposit":{"id":"52644","pid":{"type":"depid","value":"52644","revision_id":0},"owners":[1],"status":"published","created_by":1},"item_title":"舞踊模倣ヒューマノイドロボットにおける脚動作の認識と生成","author_link":["0","0"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"舞踊模倣ヒューマノイドロボットにおける脚動作の認識と生成"},{"subitem_title":"Recognition and Generation of Leg Motion for Dance Imitation by a Humanoid Robot","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"2003-03-27","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学大学院情報理工学系研究科コンピュータ科学専攻"},{"subitem_text_value":"科学技術振興事業団"},{"subitem_text_value":"産業技術総合研究所知能システム研究部門"},{"subitem_text_value":"東京大学情報学環"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Information Science and Technology, The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"Japan Science and Technology Corporation","subitem_text_language":"en"},{"subitem_text_value":"Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Interdisciplinary Information Studies, The University of Tokyo","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/52644/files/IPSJ-CVIM02137012.pdf"},"date":[{"dateType":"Available","dateValue":"2005-03-27"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-CVIM02137012.pdf","filesize":[{"value":"1.6 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":"20"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"86d86774-8d17-40c9-b4f0-cead1e82b826","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2003 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"中岡, 慎一郎"},{"creatorName":"中澤, 篤志"},{"creatorName":"横井, 一仁"},{"creatorName":"池内, 克史"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Shinichiro, Nakaoka","creatorNameLang":"en"},{"creatorName":"Atsushi, Nakazawa","creatorNameLang":"en"},{"creatorName":"Kazuhito, Yokoi","creatorNameLang":"en"},{"creatorName":"Katsushi, Ikeuchi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11131797","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":"本研究では人間の舞踊を模倣するヒューマノイドロボットの実現を目指している．人間の舞踊動作はモーションキャプチャにより取得することができるが，ロボットと人間の身体構造の違いから，キャプチャされた動作データをそのままロボットに適用することは不可能であり，脚についてはバランス維持の面から特に制約が厳しい．本論文では実ロボットで実行可能な脚動作を生成するための，脚の動作プリミティブに基づいた動作認識・生成システムを提案する．舞踊動作の構成に必要な動作プリミティブを定義し，キャプチャされたデータからプリミティブ列を抽出する．ロボットの脚動作はこの情報をもとに，各種制約を満たすよう生成される．生成された動作データを動力学シミュレータOpenHRPで検証し，本手法の有用性を確認した．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"This study attempts to rcalize a humanoid robot which can imitatc human dances. Human motion can be acquired by a motion capturing system. However, the captured data cannot be directly imported to a robot because of difference of body structure between a human and the robot. Since leg motion must consider balance keeping, constraints of it is too restricted to apply the captured data. This paper proposes a method to recognize human motion and generate robot motion from the recognition result. Primitive motions which is required to express leg mition in dance are defined. A sequence of primitives is cxtracted from captured motion data. Leg motion of a robot is generated from the primitive sequence to satisfy the leg constraints and the dynamic balance. Generated motion is tested on OpenHRP dynamics simulator. We certified validity of this method.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"100","bibliographic_titles":[{"bibliographic_title":"情報処理学会研究報告コンピュータビジョンとイメージメディア（CVIM）"}],"bibliographicPageStart":"93","bibliographicIssueDates":{"bibliographicIssueDate":"2003-03-27","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"36(2002-CVIM-137)","bibliographicVolumeNumber":"2003"}]},"relation_version_is_last":true,"weko_creator_id":"1"},"id":52644,"links":{}}