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C編", "bibliographic_titleLang": "en"}]}]}, "item_5_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "When the grasped object is in contact with external environment, it is necessary to perform the assembly tasks with identification of contact conditions. In the previous paper, we proposed an algorithm for the identification by using pure data. This paper treats the case when the data are contaminated with noise. We provide mutual relationships among criteria, and clarify properties of the criteria. 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