{"created":"2025-02-21T05:53:53.791359+00:00","id":2011099,"links":{},"metadata":{"_buckets":{"deposit":"887d6595-906d-4712-91e5-98f8ba045711"},"_deposit":{"created_by":41,"id":"2011099","owners":[41],"pid":{"revision_id":0,"type":"depid","value":"2011099"},"status":"published"},"_oai":{"id":"oai:hiroshima.repo.nii.ac.jp:02011099","sets":["1730444907710"]},"author_link":[],"item_1617186331708":{"attribute_name":"Title","attribute_value_mlt":[{"subitem_title":"非接触インピーダンスのオンライン学習と接触作業への応用","subitem_title_language":"ja"},{"subitem_title":"On-Line Learning of Non-Contact Impedance and its Appliation to Contact Tasks","subitem_title_language":"en"}]},"item_1617186419668":{"attribute_name":"Creator","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"寺内, 睦博","creatorNameLang":"ja"},{"creatorName":"Terauchi, Mutsuhiro","creatorNameLang":"en"}],"familyNames":[{"familyName":"寺内","familyNameLang":"ja"},{"familyName":"Terauchi","familyNameLang":"en"}],"givenNames":[{"givenName":"睦博","givenNameLang":"ja"},{"givenName":"Mutsuhiro","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"石井, 靖久","creatorNameLang":"ja"},{"creatorName":"Ishii, Yasuhisa","creatorNameLang":"en"}],"familyNames":[{"familyName":"石井","familyNameLang":"ja"},{"familyName":"Ishii","familyNameLang":"en"}],"givenNames":[{"givenName":"靖久","givenNameLang":"ja"},{"givenName":"Yasuhisa","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"卜, 楠","creatorNameLang":"ja"},{"creatorName":"Bu, Nan","creatorNameLang":"en"}],"familyNames":[{"familyName":"卜","familyNameLang":"ja"},{"familyName":"Bu","familyNameLang":"en"}],"givenNames":[{"givenName":"楠","givenNameLang":"ja"},{"givenName":"Nan","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"辻, 敏夫","creatorNameLang":"ja"},{"creatorName":"Tsuji, Toshio","creatorNameLang":"en"}],"familyNames":[{"familyName":"辻","familyNameLang":"ja"},{"familyName":"Tsuji","familyNameLang":"en"}],"givenNames":[{"givenName":"敏夫","givenNameLang":"ja"},{"givenName":"Toshio","givenNameLang":"en"}]}]},"item_1617186476635":{"attribute_name":"Access Rights","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_1617186499011":{"attribute_name":"Rights","attribute_value_mlt":[{"subitem_rights":"Copyright (c) 2004 社団法人日本機械学会"}]},"item_1617186609386":{"attribute_name":"Subject","attribute_value_mlt":[{"subitem_subject":"Impedance Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Virtual Impedance","subitem_subject_scheme":"Other"},{"subitem_subject":"Impedance Learning","subitem_subject_scheme":"Other"},{"subitem_subject":"On-Line Learning","subitem_subject_scheme":"Other"},{"subitem_subject":"530","subitem_subject_scheme":"NDC"}]},"item_1617186626617":{"attribute_name":"Description","attribute_value_mlt":[{"subitem_description":"Impedance control is one of the most effective control methods for interaction between a manipulator and task environments. The force resulted by the interaction, however, does not occur until the end-effector of the manipulator touches its environment. A non-contact impedance control method has been proposed in order to achieve the impedance control before the contact. The method can regulate not only the end-point impedance but also the virtual impedance such that the end-effector is surrounded by a virtual object which can touch the environment before a real contact. This paper proposes a learning method using neural networks to regulate the virtual impedance parameters for given tasks. The validity of the method is verified through computer simulations and experiments with a conventional robot manipulator.","subitem_description_language":"en"}]},"item_1617186643794":{"attribute_name":"Publisher","attribute_value_mlt":[{"subitem_publisher":"社団法人日本機械学会"}]},"item_1617186702042":{"attribute_name":"Language","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_1617186920753":{"attribute_name":"Source Identifier","attribute_value_mlt":[{"subitem_source_identifier":"0387-5024","subitem_source_identifier_type":"ISSN"},{"subitem_source_identifier":"AN00187463","subitem_source_identifier_type":"NCID"}]},"item_1617187024783":{"attribute_name":"Page Start","attribute_value_mlt":[{"subitem_start_page":"1999"}]},"item_1617187056579":{"attribute_name":"Bibliographic Information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-07-25","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"695","bibliographicPageEnd":"2005","bibliographicPageStart":"1999","bibliographicVolumeNumber":"70","bibliographic_titles":[{"bibliographic_title":"日本機械学會論文集. C編"},{"bibliographic_title":"Transactions of the Japan Society of Mechanical Engineers. C"}]}]},"item_1617258105262":{"attribute_name":"Resource Type","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_1617265215918":{"attribute_name":"Version Type","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_1617605131499":{"attribute_name":"File","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2023-03-18"}],"displaytype":"simple","filename":"03875024_70_695_1999.pdf","filesize":[{"value":"823.2 KB"}],"mimetype":"application/pdf","url":{"objectType":"fulltext","url":"https://hiroshima.repo.nii.ac.jp/record/2011099/files/03875024_70_695_1999.pdf"},"version_id":"cf55ce92-a7a8-4d87-a6c6-656ea94c6e07"}]},"item_1732771732025":{"attribute_name":"旧ID","attribute_value":"19467"},"item_title":"非接触インピーダンスのオンライン学習と接触作業への応用","item_type_id":"40003","owner":"41","path":["1730444907710"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2023-03-18"},"publish_date":"2023-03-18","publish_status":"0","recid":"2011099","relation_version_is_last":true,"title":["非接触インピーダンスのオンライン学習と接触作業への応用"],"weko_creator_id":"41","weko_shared_id":-1},"updated":"2025-02-22T09:06:48.146546+00:00"}