{"created":"2023-06-19T12:44:17.306588+00:00","id":3724,"links":{},"metadata":{"_buckets":{"deposit":"61e5750c-485f-4ee6-9b37-79fa08ef2331"},"_deposit":{"created_by":3,"id":"3724","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"3724"},"status":"published"},"_oai":{"id":"oai:tokyo-metro-u.repo.nii.ac.jp:00003724","sets":["1647:623:624"]},"author_link":["10950","10945","10944","10952","10951","10948","10949","10946","10947"],"item_6_alternative_title_19":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Admittance Control Method Achieving Steady Contact"}]},"item_6_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-09","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"6","bibliographicPageEnd":"642","bibliographicPageStart":"635","bibliographicVolumeNumber":"26","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌"}]}]},"item_6_creator_2":{"attribute_name":"著者(ヨミ)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"タケスエ, ナオユキ"}],"nameIdentifiers":[{"nameIdentifier":"10947","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"ノバタ, シゲヒロ"}],"nameIdentifiers":[{"nameIdentifier":"10948","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"フジモト, ヒデオ"}],"nameIdentifiers":[{"nameIdentifier":"10949","nameIdentifierScheme":"WEKO"}]}]},"item_6_creator_3":{"attribute_name":"著者別名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Takesue, Naoyuki"}],"nameIdentifiers":[{"nameIdentifier":"10950","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Nobata, Shigehiro"}],"nameIdentifiers":[{"nameIdentifier":"10951","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Fujimoto, Hideo"}],"nameIdentifiers":[{"nameIdentifier":"10952","nameIdentifierScheme":"WEKO"}]}]},"item_6_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper is concerned with the human-robot system such as power assist system based on the position-control-based impedance control (admittance control). The system has two force inputs from the operator and the environment, which may cause the vibratory behavior when the robot comes in contact with the environment. It is because the operational force and the contact force do not balance due to the noise, error, delay and so on. This paper proposes the admittance control with two inputs that achieves steady contact with an environment by modifying the contact force information. The effectiveness of the proposed method is demonstrated through several experiments.","subitem_description_type":"Abstract"}]},"item_6_publisher_33":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会"}]},"item_6_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"日本ロボット学会"}]},"item_6_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_6_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"ISSN"}]},"item_6_version_type_16":{"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":"武居, 直行"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"野畑, 茂広"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"藤本, 英雄"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-08-04"}],"displaytype":"detail","filename":"10668-001.pdf","filesize":[{"value":"1.4 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"10668-001.pdf","url":"https://tokyo-metro-u.repo.nii.ac.jp/record/3724/files/10668-001.pdf"},"version_id":"cbd7f947-8f1c-4261-9864-4ec178d281c3"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Admittance control","subitem_subject_scheme":"Other"},{"subitem_subject":"Impedance control","subitem_subject_scheme":"Other"},{"subitem_subject":"Human-machine system","subitem_subject_scheme":"Other"},{"subitem_subject":"Cooperative task system","subitem_subject_scheme":"Other"},{"subitem_subject":"Power assist","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":"安定した接触を実現するアドミッタンス制御手法","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"安定した接触を実現するアドミッタンス制御手法"}]},"item_type_id":"6","owner":"3","path":["624"],"pubdate":{"attribute_name":"公開日","attribute_value":"2013-07-16"},"publish_date":"2013-07-16","publish_status":"0","recid":"3724","relation_version_is_last":true,"title":["安定した接触を実現するアドミッタンス制御手法"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-06-19T18:09:47.664123+00:00"}