{"created":"2021-03-01T06:16:59.626870+00:00","id":453,"links":{},"metadata":{"_buckets":{"deposit":"ec071242-c009-4c30-9acb-f7eed9d87ace"},"_deposit":{"id":"453","owners":[],"pid":{"revision_id":0,"type":"depid","value":"453"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000453","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":"Simultaneous Measurement of Shape and Mechanical Impedance of an Object"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1997-10","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"7","bibliographicPageEnd":"1003","bibliographicPageStart":"997","bibliographicVolumeNumber":"15","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":"Desyncronized tele-robotics by virtual reality technology has been studied by many researchers. This approach does not couple an operator and a slave robot directly like bilateral master-slave teleoperation system, so the smart search of the remote environment by autonomous slave robots is strongly required. In this paper, we propose a method which can measure the mechanical impedance and shape of a target object and environment with the robot under impedance control by adding perturbation to the virtual trajectory. First, it is considered what kind of perturbation is necessary and realistic for that purpose. Then, we show that the robot with a single force sensor is insufficient for simultaneous estimation of mechanical impedance and shape, and that the measurement of force at plural points on the contact surface is essenstial. The validity of the method is checked by a 2DOF real robot.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106579","nameIdentifierScheme":"WEKO"}],"names":[{"name":"EMURA, Satoru"}]},{"nameIdentifiers":[{"nameIdentifier":"106580","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":"東京大学工学部"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"江村, 暁"}],"nameIdentifiers":[{"nameIdentifier":"106577","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106578","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":"1507B037.pdf","filesize":[{"value":"423.7 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"1507B037.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/453/files/1507B037.pdf"},"version_id":"59f58b7a-7275-4a8e-a2c3-9175d4b94d73"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Mechanical Impedance","subitem_subject_scheme":"Other"},{"subitem_subject":"Telerobotics","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":"形状とインピーダンスの同時測定法","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"形状とインピーダンスの同時測定法"}]},"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":"453","relation_version_is_last":true,"title":["形状とインピーダンスの同時測定法"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:26.306050+00:00"}