{"_buckets": {"deposit": "4797b22d-b553-4895-835a-3ff55095c6e3"}, "_deposit": {"id": "3808", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "3808"}, "status": "published"}, "_oai": {"id": "oai:niigata-u.repo.nii.ac.jp:00003808", "sets": ["454", "425"]}, "item_5_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Identification of Contact Conditions from Contaminated Data of Contact Moment"}]}, "item_5_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2000-08", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "648", "bibliographicPageEnd": "2692", "bibliographicPageStart": "2685", "bibliographicVolumeNumber": "66", "bibliographic_titles": [{"bibliographic_title": "日本機械学会論文集. C編"}, {"bibliographic_title": "日本機械学会論文集. C編", "bibliographic_titleLang": "en"}]}]}, "item_5_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "When a grasped object is in contact with external environment, it is required to identify contact conditions prior to performing assembly tasks. This paper discusses a method for identification of contact conditions by using an active force sensing method. This paper treats the practical case where sensing data are contaminated with noise. Contact types are characterized by a standard deviation of contact moments. The contact position is estimated by a least-squares method. The contact type can be judged by comparing the eigenvalues of a covariance matrix of estimated contact moment. We establish an efficient and analytical algorithm for identification of contact conditions. The algorithm can identify not only contact position and contact force, but also contact type.", "subitem_description_type": "Abstract"}]}, "item_5_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "45519", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mouri, Tetsuya"}]}, {"nameIdentifiers": [{"nameIdentifier": "45520", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Yamada, Takayoshi"}]}, {"nameIdentifiers": [{"nameIdentifier": "45521", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mimura, Nobuharu"}]}, {"nameIdentifiers": [{"nameIdentifier": "45522", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Funahashi, Yasuyuki"}]}]}, "item_5_publisher_7": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本機械学会"}]}, "item_5_relation_31": {"attribute_name": "異版である", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "http://ci.nii.ac.jp/naid/110002383296", "subitem_relation_type_select": "URI"}}]}, "item_5_rights_15": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "日本機械学会 / 本文データは学会の許諾に基づくCiNiiからの複製である"}]}, "item_5_select_19": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_5_source_id_11": {"attribute_name": "書誌レコードID", "attribute_value_mlt": [{"subitem_source_identifier": "AN00187463", "subitem_source_identifier_type": "NCID"}]}, "item_5_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "03875024", "subitem_source_identifier_type": "ISSN"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "毛利, 哲也"}], "nameIdentifiers": [{"nameIdentifier": "45515", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "山田, 貴孝"}], "nameIdentifiers": [{"nameIdentifier": "45516", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "三村, 宣治"}], "nameIdentifiers": [{"nameIdentifier": "45517", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "舟橋, 康行"}], "nameIdentifiers": [{"nameIdentifier": "45518", "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": "2019-07-30"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "9_0150.pdf", "filesize": [{"value": "645.2 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 645200.0, "url": {"label": "9_0150.pdf", "url": "https://niigata-u.repo.nii.ac.jp/record/3808/files/9_0150.pdf"}, "version_id": "fb1d8f65-934e-483f-b8f0-ddddd0acb164"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Robot Hand", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Multi-Fingered Hand", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Active Sensing", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Contact Conditions", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Parameter Identification", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Contaminated Data", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Covariance Matrix", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Eigenvalue", "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": "接触モーメントのノイズを考慮した接触状態の同定法", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "接触モーメントのノイズを考慮した接触状態の同定法"}, {"subitem_title": "接触モーメントのノイズを考慮した接触状態の同定法", "subitem_title_language": "en"}]}, "item_type_id": "5", "owner": "1", "path": ["454", "425"], "permalink_uri": "http://hdl.handle.net/10191/5852", "pubdate": {"attribute_name": "公開日", "attribute_value": "2008-04-08"}, "publish_date": "2008-04-08", "publish_status": "0", "recid": "3808", "relation": {}, "relation_version_is_last": true, "title": ["接触モーメントのノイズを考慮した接触状態の同定法"], "weko_shared_id": null}