{"created":"2023-05-15T11:59:40.472254+00:00","id":6209,"links":{},"metadata":{"_buckets":{"deposit":"46e2eb0b-e5e0-4747-8b2e-f0e273f9df2f"},"_deposit":{"created_by":3,"id":"6209","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"6209"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00006209","sets":["8:24"]},"author_link":["25557","25558","25559","25560","25561","25562"],"control_number":"6209","item_1689815586683":{"attribute_name":"CRID","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://cir.nii.ac.jp/crid/1390564227324282112","subitem_relation_type_select":"URI"}}]},"item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2019-10-18","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"8","bibliographicPageEnd":"725","bibliographicPageStart":"718","bibliographicVolumeNumber":"37","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌","bibliographic_titleLang":"ja"},{"bibliographic_title":"Journal of the Robotics Society of Japan","bibliographic_titleLang":"en"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Motion planning for robotics manipulation is an essential component for automating various tasks. In this study we discuss optimization-based motion planning methods for robotic manipulation. The optimization-based method can compute smooth and collision-free trajectories with relatively short computational cost. Although existing methods are often designed to output a single solution, the objective function is often multimodal and there exist multiple solutions to achieve a given task. On such a task, obtaining multiple solutions gives a user an opportunity to choose one of the solutions based on factors which are not encoded in the objective function. To address this issue, we propose a motion planning framework that finds multiple solutions. The proposed method is validated in simulated environments with a four-link manipulator in 2D space and a 6 DoFs manipualtor in 3D space.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/100001202_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版社","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会","subitem_publisher_language":"ja"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.7210/jrsj.37.718","subitem_relation_type_select":"DOI"}}]},"item_21_rights_13":{"attribute_name":"著作権関連情報","attribute_value_mlt":[{"subitem_rights":"Copyright (c) 2018 日本ロボット学会"}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_10":{"attribute_name":"NCID","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1884-7145","subitem_source_identifier_type":"EISSN"},{"subitem_source_identifier":"0289-1824","subitem_source_identifier_type":"PISSN"}]},"item_21_subject_16":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"501","subitem_subject_scheme":"NDC"}]},"item_21_text_28":{"attribute_name":"論文ID（連携）","attribute_value_mlt":[{"subitem_text_value":"10346018"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"7915"}]},"item_21_version_type_58":{"attribute_name":"出版タイプ","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":[{"creatorAffiliations":[{"affiliationNames":[{}]}],"creatorNames":[{"creatorName":"Osa, Takayuki","creatorNameLang":"en"},{"creatorName":"長, 隆之","creatorNameLang":"ja"},{"creatorName":"オサ, タカユキ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{},{}]},{"creatorNames":[{"creatorName":"佐藤, 雅也","creatorNameLang":"ja"},{"creatorName":"Sato, Masaya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"森木, 和也","creatorNameLang":"ja"},{"creatorName":"Moriki, Kazuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"杉山, 聡","creatorNameLang":"ja"},{"creatorName":"Sugiyama, Satoshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"杉田, 直彦","creatorNameLang":"ja"},{"creatorName":"Sugita, Naohiko","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中尾, 政之","creatorNameLang":"ja"},{"creatorName":"Nakao, Masayuki","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2019-11-06"}],"displaytype":"detail","filename":"jrsj.37.718.pdf","filesize":[{"value":"1.2 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"jrsj.37.718.pdf","url":"https://kyutech.repo.nii.ac.jp/record/6209/files/jrsj.37.718.pdf"},"version_id":"7257a253-5240-4bd6-a34b-792c5272957b"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Motion Planning","subitem_subject_scheme":"Other"},{"subitem_subject":"Multimodal Optimization","subitem_subject_scheme":"Other"},{"subitem_subject":"Importance Sampling","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":"端点の多峰性最適化による複数の解が導出可能な軌道計画法","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"端点の多峰性最適化による複数の解が導出可能な軌道計画法","subitem_title_language":"ja"},{"subitem_title":"Manipulation Planning with Multimodal End Point Optimization for Obtaining Multiple Solutions","subitem_title_language":"en"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2019-11-06"},"publish_date":"2019-11-06","publish_status":"0","recid":"6209","relation_version_is_last":true,"title":["端点の多峰性最適化による複数の解が導出可能な軌道計画法"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2024-01-29T02:01:48.237307+00:00"}