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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
http://hdl.handle.net/10228/00007419
http://hdl.handle.net/10228/00007419d37b2edb-8056-4c36-94b7-ccdd9dbafca3
名前 / ファイル | ライセンス | アクション |
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jrsj.37.718.pdf (1.2 MB)
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Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||
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公開日 | 2019-11-06 | |||||||||||
資源タイプ | ||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
資源タイプ | journal article | |||||||||||
タイトル | ||||||||||||
言語 | ja | |||||||||||
タイトル | 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 | |||||||||||
タイトル | ||||||||||||
言語 | en | |||||||||||
タイトル | Manipulation Planning with Multimodal End Point Optimization for Obtaining Multiple Solutions | |||||||||||
言語 | ||||||||||||
言語 | jpn | |||||||||||
著者 |
長, 隆之
× 長, 隆之
WEKO
25557
× 佐藤, 雅也× 森木, 和也× 杉山, 聡× 杉田, 直彦× 中尾, 政之 |
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抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | 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. | |||||||||||
言語 | en | |||||||||||
書誌情報 |
ja : 日本ロボット学会誌 en : Journal of the Robotics Society of Japan 巻 37, 号 8, p. 718-725, 発行日 2019-10-18 |
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言語 | ja | |||||||||||
出版者 | 日本ロボット学会 | |||||||||||
DOI | ||||||||||||
関連タイプ | isIdenticalTo | |||||||||||
識別子タイプ | DOI | |||||||||||
関連識別子 | https://doi.org/10.7210/jrsj.37.718 | |||||||||||
CRID | ||||||||||||
関連タイプ | isIdenticalTo | |||||||||||
識別子タイプ | URI | |||||||||||
関連識別子 | https://cir.nii.ac.jp/crid/1390564227324282112 | |||||||||||
日本十進分類法 | ||||||||||||
主題Scheme | NDC | |||||||||||
主題 | 501 | |||||||||||
NCID | ||||||||||||
収録物識別子タイプ | NCID | |||||||||||
収録物識別子 | AN00141189 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | EISSN | |||||||||||
収録物識別子 | 1884-7145 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | PISSN | |||||||||||
収録物識別子 | 0289-1824 | |||||||||||
著作権関連情報 | ||||||||||||
権利情報 | Copyright (c) 2018 日本ロボット学会 | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Motion Planning | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Multimodal Optimization | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Importance Sampling | |||||||||||
出版タイプ | ||||||||||||
出版タイプ | VoR | |||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
査読の有無 | ||||||||||||
値 | yes | |||||||||||
研究者情報 | ||||||||||||
https://hyokadb02.jimu.kyutech.ac.jp/html/100001202_ja.html | ||||||||||||
論文ID(連携) | ||||||||||||
10346018 | ||||||||||||
連携ID | ||||||||||||
7915 |