{"created":"2024-10-25T04:40:26.956026+00:00","id":2001004,"links":{},"metadata":{"_buckets":{"deposit":"1640b651-9d92-4ae0-9bd0-cb473ee8dd3a"},"_deposit":{"created_by":15,"id":"2001004","owner":"15","owners":[15],"pid":{"revision_id":0,"type":"depid","value":"2001004"},"status":"published"},"_oai":{"id":"oai:mie-u.repo.nii.ac.jp:02001004","sets":["366:680:1728958155548"]},"author_link":[],"control_number":"2001004","item_8_biblio_info_6":{"attribute_name":"bibliographic_information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2023-06-12","bibliographicIssueDateType":"Issued"}}]},"item_8_description_14":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_8_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"ヒューマノイドロボットのための視空間を用いたビジュアルサーボに関しては、2次元平面内での手法を、実際の作業を行うために鉛直方向を追加して3次元空間への手法に拡張し、シミュレーションと実験を行った。多自由度剛性可変腱駆動アームの制御のための座標変換では、冗長自由度も用いてモータトルク制限内で最大限動作可能な手法を開発した。軽量なアーム実現のために、超音波モータを用いる手法や、ハーモニックギアを用いたシステムのための力制御手法を開発した。剛性可変腱駆動機構への応用を目的に、剛性を低くすることの効果を明らかにした。","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"Regarding visual servoing using binocular visual space for humanoid robots, the method in a two dimensional plane is extended to a method in three-dimensional space by adding the vertical direction to perform actual work, and simulations and experiments are performed. In the coordinate transformation for the control of the variable stiffness tendon drive arms with multiple degrees of freedom, we have developed a method that allows maximum movement within the motor torque limit using the redundant degrees of freedom. In order to realize a lightweight arm, we developed a force control method for mechanisms using ultrasonic motors or harmonic gears. For the purpose of application to a variable stiffness tendon drive mechanism, the effect of lowering the stiffness was clarified.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_8_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"2017年度～2022年度科学研究費補助金(基盤研究(C))研究成果報告書","subitem_description_type":"Other"}]},"item_8_description_64":{"attribute_name":"科研費番号","attribute_value_mlt":[{"subitem_description":"17K06491","subitem_description_type":"Other"}]},"item_8_text_65":{"attribute_name":"item_8_text_65","attribute_value_mlt":[{"subitem_text_value":"Kaken / 科研費報告書"}]},"item_8_version_type_15":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"駒田, 諭","creatorNameLang":"ja"},{"creatorName":"Komada, Satoshi","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"矢代, 大祐","creatorNameLang":"ja"},{"creatorName":"Yashiro, Daisuke","creatorNameLang":"en"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2024-10-25"}],"filename":"2024RP0094.pdf","filesize":[{"value":"248 KB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"label":"2024RP0094.pdf","url":"https://mie-u.repo.nii.ac.jp/record/2001004/files/2024RP0094.pdf"},"version_id":"9bde65ce-a9c5-4b43-8b93-b09f1841c959"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボットアーム","subitem_subject_scheme":"Other"},{"subitem_subject":"制御","subitem_subject_scheme":"Other"},{"subitem_subject":"非線形バネ","subitem_subject_scheme":"Other"},{"subitem_subject":"腱駆動","subitem_subject_scheme":"Other"},{"subitem_subject":"剛性","subitem_subject_scheme":"Other"},{"subitem_subject":"視覚","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"item_resource_type","attribute_value_mlt":[{"resourcetype":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_title":"人との共存のためのステレオカメラを有する３次元空間剛性可変腱駆動アームの制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"人との共存のためのステレオカメラを有する３次元空間剛性可変腱駆動アームの制御","subitem_title_language":"ja"},{"subitem_title":"Control of Variable Stiffness Tendon Arm with Stereo Camera in 3D Space for Human Friendly Robots","subitem_title_language":"en"}]},"item_type_id":"8","owner":"15","path":["1728958155548"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-10-25"},"publish_date":"2024-10-25","publish_status":"0","recid":"2001004","relation_version_is_last":true,"title":["人との共存のためのステレオカメラを有する３次元空間剛性可変腱駆動アームの制御"],"weko_creator_id":"15","weko_shared_id":-1},"updated":"2024-10-25T04:50:40.139077+00:00"}