{"created":"2021-03-01T06:16:59.445155+00:00","id":450,"links":{},"metadata":{"_buckets":{"deposit":"344bdc8b-641e-427c-8f60-16814be06fe5"},"_deposit":{"id":"450","owners":[],"pid":{"revision_id":0,"type":"depid","value":"450"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000450","sets":["6:32:33","9:10:14"]},"item_2_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Methods for Solving Inverse-kinematics Problems Using Nerual Networks with 0utput Error Feedback"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1995-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"99","bibliographicPageStart":"89","bibliographicVolumeNumber":"13","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌"}]}]},"item_2_description_13":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_2_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Many studies on the learning control of the robot arm have been conducted by using neural networks, The method that uses an acquired inverse-kinematics model of the arm by learning are popular. However, acquisition of the inverse-kinematics model has a number of drawbacks. Furthermore, a limited scale neural networks system has only limited precision. Errors still remains in the output of the inverse-kinematics model using the neural networks system. In this paper, a new method for solving inverse-kinematics problem using the learned inverse model of the linearized model as output feedback system is proposed. Two possible configurations of the system are presented. The use of linear adaptive systems including Kalman filter is also proposed for higher accuracy. The performances of the proposed methods are shown by numerical simulations.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106563","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Oyama, Eimei"}]},{"nameIdentifiers":[{"nameIdentifier":"106564","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Tachi, Susumu"}]}]},"item_2_publisher_20":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会"}]},"item_2_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_2_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"ISSN"}]},"item_2_subject_15":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548.3","subitem_subject_scheme":"NDC"}]},"item_2_text_4":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"工業技術院機械技術研究所"},{"subitem_text_value":"東京大学工学部"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"大山, 英明"}],"nameIdentifiers":[{"nameIdentifier":"106561","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106562","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-06-26"}],"displaytype":"detail","filename":"1301B089.pdf","filesize":[{"value":"781.6 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"1301B089.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/450/files/1301B089.pdf"},"version_id":"a83a3b1a-6471-4c97-8de6-72b35a4a80af"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Inverse-kinematics","subitem_subject_scheme":"Other"},{"subitem_subject":"Neural Networks","subitem_subject_scheme":"Other"},{"subitem_subject":"Output Feedback Inverse Model","subitem_subject_scheme":"Other"},{"subitem_subject":"Linear Adaptive System","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"神経回路により出力誤差のフィードバックを行う逆運動学問題の解法","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"神経回路により出力誤差のフィードバックを行う逆運動学問題の解法"}]},"item_type_id":"2","owner":"1","path":["14","33"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-03-12"},"publish_date":"2010-03-12","publish_status":"0","recid":"450","relation_version_is_last":true,"title":["神経回路により出力誤差のフィードバックを行う逆運動学問題の解法"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:19.720370+00:00"}