{"created":"2023-07-25T09:05:17.629142+00:00","id":3297,"links":{},"metadata":{"_buckets":{"deposit":"07fca223-980d-45bd-bcf6-81f58496d55f"},"_deposit":{"created_by":3,"id":"3297","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"3297"},"status":"published"},"_oai":{"id":"oai:toyama.repo.nii.ac.jp:00003297","sets":["496:556:557:558"]},"author_link":["10186","11570","11569","11567","11571","11565","11572","11566"],"item_11_alternative_title_21":{"attribute_name":"その他（別言語等）のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Motion Control of Mobile Manipulators Traveling on Irregular Terrain : Estimation of Terrain Shapes Using GA and Evaluation of Inverse Dynamics Compensation with Experiments"}]},"item_11_biblio_info_9":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2001-08","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"01-1","bibliographicPageEnd":"208","bibliographicPageStart":"207","bibliographicVolumeNumber":"IV","bibliographic_titles":[{"bibliographic_title":"年次大会講演論文集 : JSME annual meeting"}]}]},"item_11_description_17":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_11_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"We propose an inverse dynamics controller using the genetic algorithm (GA) for moving operations performed by a mobile manipulator traveling on unknown irregular terrain. When a mobile manipulator travels on irregular terrain, the mobile manipulator's hand is subjected to influences of disturbance torques generated by irregularities. In this paper, we developed a dynamic compensation controller using the GA and evaluated its control performance. Then, it is shown that the proposed controller can estimate a terrain shape and can decrease control errors against disturbance torques.","subitem_description_type":"Abstract"}]},"item_11_description_42":{"attribute_name":"資源タイプ(DSpace)","attribute_value_mlt":[{"subitem_description":"Article","subitem_description_type":"Other"}]},"item_11_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"11570","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Tsukada, Shigekazu"}]},{"nameIdentifiers":[{"nameIdentifier":"11571","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Hatano, Masatoshi"}]},{"nameIdentifiers":[{"nameIdentifier":"11572","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Ohsumi, Tsuyoshi"}]},{"nameIdentifiers":[{"nameIdentifier":"10186","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"9000002438910","nameIdentifierScheme":"CiNii ID","nameIdentifierURI":"http://ci.nii.ac.jp/nrid/9000002438910"}],"names":[{"name":"Obara, Haruki"}]}]},"item_11_publisher_35":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"社団法人日本機械学会"}]},"item_11_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"rights: 本文データは社団法人日本機械学会の許諾に基づきCiNiiから複製したものである"}]},"item_11_source_id_12":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11461871","subitem_source_identifier_type":"NCID"}]},"item_11_version_type_18":{"attribute_name":"著者版フラグ","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":"塚田, 茂和"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"羽多野, 正俊"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大住, 剛"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小原, 治樹"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"高瀬, 博文"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-02-16"}],"displaytype":"detail","filename":"JSMEAM01-207.pdf","filesize":[{"value":"221.5 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"JSMEAM01-207.pdf","url":"https://toyama.repo.nii.ac.jp/record/3297/files/JSMEAM01-207.pdf"},"version_id":"ac43df3a-9fc7-499a-b334-14b165d599f8"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Mobile manipulator","subitem_subject_scheme":"Other"},{"subitem_subject":"Inverse dynamics compensation","subitem_subject_scheme":"Other"},{"subitem_subject":"GA","subitem_subject_scheme":"Other"},{"subitem_subject":"Irregular terrain","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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"凹凸路面を走行する移動マニピュレータの運動制御 : GAを用いた路面形状推定と動力学補償法の実機による評価(G15-1 ロボットの運動解析・制御)(G15 ロボティクス・メカトロニクス部門一般講演)","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"凹凸路面を走行する移動マニピュレータの運動制御 : GAを用いた路面形状推定と動力学補償法の実機による評価(G15-1 ロボットの運動解析・制御)(G15 ロボティクス・メカトロニクス部門一般講演)"}]},"item_type_id":"11","owner":"3","path":["558"],"pubdate":{"attribute_name":"公開日","attribute_value":"2008-02-12"},"publish_date":"2008-02-12","publish_status":"0","recid":"3297","relation_version_is_last":true,"title":["凹凸路面を走行する移動マニピュレータの運動制御 : GAを用いた路面形状推定と動力学補償法の実機による評価(G15-1 ロボットの運動解析・制御)(G15 ロボティクス・メカトロニクス部門一般講演)"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-07-25T11:51:56.349314+00:00"}