{"created":"2024-10-25T05:46:02.995683+00:00","id":2001005,"links":{},"metadata":{"_buckets":{"deposit":"da64a538-3325-4934-8832-934759177d3d"},"_deposit":{"created_by":15,"id":"2001005","owner":"15","owners":[15],"pid":{"revision_id":0,"type":"depid","value":"2001005"},"status":"published"},"_oai":{"id":"oai:mie-u.repo.nii.ac.jp:02001005","sets":["366:680:1728958155548"]},"author_link":[],"control_number":"2001005","item_8_biblio_info_6":{"attribute_name":"bibliographic_information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2023-06-13","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":"本研究ではロボットにる知的な力制御を実現するため，環境から得られる反力とロボットに与える入力の情報から現在の状況を判定し，その判定された状況に応じて制御器ゲインを調整するゲインスケジューリング制御系の構築を行った。本研究の特徴的な点は，上記の知的な力制御を実現するにあたり，力制御を構築するシステムのモデルを用いることなく，ロボットより得られる反力の情報とロボットに与える入力の情報のみから実現している点である。どのような状況においても，指定する粘弾性特性を持つ力制御系を構築できるよう，現時点で得られているデータから現在の状況の特定を行い，その結果に応じた制御器ゲインの調整を可能にした。","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"In this research project, the design method of the gain-scheduled force controller which can accordingly tune the controller gains in response to the force acquired from the environment and the input to the robot is proposed. The feature of this research project is that the control scheme is achieved without any mathematical model and only with information acquired from the robot and the environment. In order to achieve the desired force characteristic for any environments, firstly identify the current environment from input and output data, and secondly construct the control system to tune the controller parameters in respose to the identified environment.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_8_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"2018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":"18K04197","subitem_description_type":"Other"}]},"item_8_publisher_30":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"三重大学"}]},"item_8_text_31":{"attribute_name":"出版者（ヨミ）","attribute_value_mlt":[{"subitem_text_value":"ミエダイガク"}]},"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":"弓場井, 一裕","creatorNameLang":"ja"},{"creatorName":"YUBAI, Kazuhiro","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":"2024RP0095.pdf","filesize":[{"value":"92 KB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"label":"2024RP0095.pdf","url":"https://mie-u.repo.nii.ac.jp/record/2001005/files/2024RP0095.pdf"},"version_id":"96ba9e42-e77f-44f4-8983-8d42f5fcc864"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"データ駆動型制御器設計法","subitem_subject_scheme":"Other"},{"subitem_subject":"ゲインスケジューリング制御","subitem_subject_scheme":"Other"},{"subitem_subject":"クラスタリング","subitem_subject_scheme":"Other"},{"subitem_subject":"サポートベクターマシン力制御","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":"データ駆動型制御器設計法によるゲインスケジューリング力制御器の設計法の提案","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"データ駆動型制御器設計法によるゲインスケジューリング力制御器の設計法の提案","subitem_title_language":"ja"},{"subitem_title":"Design Method of Gain-Scheduled Force Controller Based on Data-Driven Controller Design Method","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":"2001005","relation_version_is_last":true,"title":["データ駆動型制御器設計法によるゲインスケジューリング力制御器の設計法の提案"],"weko_creator_id":"15","weko_shared_id":-1},"updated":"2024-10-25T05:59:45.540012+00:00"}