書誌事項
- タイトル別名
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- A Verification of a Control System of Multi-fingered Hands for Realizing Task Oriented Software Synergy
- タスク シコウガタ ソフトウェア シナジー オ ジツゲン スル タシ ハンド セイギョ システム ノ ケンショウ
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抄録
<p>This paper proposes a concept of the task-oriented software synergy (TOSS) for anthropomorphic hands and designs a control system of multi-fingered hand that realizes TOSS. By using TOSS, we can perform various tasks with fewer principal components than those of conventional synergies by switching synergy corresponding to each task. We show that TOSS can be realized with lower approximation error and higher contribution rate than the conventional synergy for a given task. Moreover, we verified through physics simulation that an adverse effect of dimensionality reduction is smaller than conventional synergy. These results show that, by using TOSS, we can properly perform various tasks with fewer inputs.</p>
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 32 (5), 218-226, 2019-05-15
一般社団法人 システム制御情報学会
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詳細情報
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- CRID
- 1390282763133812352
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- NII論文ID
- 130007690182
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 029672778
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可