{"created":"2023-05-15T11:59:58.216659+00:00","id":6614,"links":{},"metadata":{"_buckets":{"deposit":"a03c499f-4d38-4644-bcac-7a7ebb23aaa1"},"_deposit":{"created_by":3,"id":"6614","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"6614"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00006614","sets":["8:24"]},"author_link":["27929","27931","27930"],"item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2019-07-09","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"22","bibliographicPageEnd":"1174","bibliographicPageStart":"1156","bibliographicVolumeNumber":"33 ","bibliographic_titles":[{"bibliographic_title":"Advanced Robotics"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"The recent demographic trend across developed nations shows a dramatic increase in the aging population, fallen fertility rates and a shortage of caregivers. Hence, the demand for service robots to assist with dressing which is an essential Activity of Daily Living (ADL) is increasing rapidly. Robotic Clothing Assistance is a challenging task since the robot has to deal with two demanding tasks simultaneously, (a) non-rigid and highly flexible cloth manipulation and (b) safe human–robot interaction while assisting humans whose posture may vary during the task. On the other hand, humans can deal with these tasks rather easily. In this paper, we propose a framework for robotic clothing assistance by imitation learning from a human demonstration to a compliant dual-arm robot. In this framework, we divide the dressing task into three phases, i.e. reaching phase, arm dressing phase, and body dressing phase. We model the arm dressing phase as a global trajectory modification using Dynamic Movement Primitives (DMP), while we model the body dressing phase toward a local trajectory modification applying Bayesian Gaussian Process Latent Variable Model (BGPLVM). We show that the proposed framework developed towards assisting the elderly is generalizable to various people and successfully performs a sleeveless shirt dressing task. We also present participants feedback on public demonstration at the International Robot Exhibition (iREX) 2017. To our knowledge, this is the first work performing a full dressing of a sleeveless shirt on a human subject with a humanoid robot.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_text":"https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html","subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Taylor & Francis"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1080/01691864.2019.1636715","subitem_relation_type_select":"DOI"}}]},"item_21_relation_14":{"attribute_name":"情報源","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"http://www.tandfonline.com/10.1080/01691864.2019.1636715"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"http://www.tandfonline.com/10.1080/01691864.2019.1636715","subitem_relation_type_select":"URI"}}]},"item_21_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 2019-07-09 available online:http://www.tandfonline.com/10.1080/01691864.2019.1636715."}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0169-1864","subitem_source_identifier_type":"ISSN"},{"subitem_source_identifier":"1568-5535","subitem_source_identifier_type":"ISSN"}]},"item_21_text_28":{"attribute_name":"論文ID（連携）","attribute_value_mlt":[{"subitem_text_value":"10343576"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Life Science and System Engineering, Kyushu Institute of Technology, Wakamatsu, Kitakyushu, Japan"},{"subitem_text_value":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan"},{"subitem_text_value":"Graduate School of Life Science and System Engineering, Kyushu Institute of Technology, Wakamatsu, Kitakyushu, Japan"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"8212"}]},"item_21_version_type_58":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Joshi,  R. P."}],"nameIdentifiers":[{"nameIdentifier":"27929","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Koganti,  N."}],"nameIdentifiers":[{"nameIdentifier":"27930","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Shibata,  T."}],"nameIdentifiers":[{"nameIdentifier":"27931","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":"2020-07-13"}],"displaytype":"detail","filename":"10343576.pdf","filesize":[{"value":"4.8 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"10343576.pdf","url":"https://kyutech.repo.nii.ac.jp/record/6614/files/10343576.pdf"},"version_id":"117dcc94-c76e-4781-b4cb-7eb7dbc23286"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Robotic clothing assistance","subitem_subject_scheme":"Other"},{"subitem_subject":"imitation learning","subitem_subject_scheme":"Other"},{"subitem_subject":"DMP","subitem_subject_scheme":"Other"},{"subitem_subject":"BGPLVM","subitem_subject_scheme":"Other"},{"subitem_subject":"service robot","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"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":"A framework for robotic clothing assistance by imitation learning","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"A framework for robotic clothing assistance by imitation learning"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"公開日","attribute_value":"2020-07-13"},"publish_date":"2020-07-13","publish_status":"0","recid":"6614","relation_version_is_last":true,"title":["A framework for robotic clothing assistance by imitation learning"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-10-18T09:03:16.293239+00:00"}