{"created":"2023-06-20T14:40:35.380322+00:00","id":7497,"links":{},"metadata":{"_buckets":{"deposit":"0a927748-b394-4f82-8ac0-d46a91fa8ad6"},"_deposit":{"created_by":1,"id":"7497","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7497"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007497","sets":["1543:1544:1556","1887:1891"]},"author_link":["40000","40002","40003","39998","39997","40004","39999","40001"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"EVA支援代行ロボットの同定アルゴリズム・State Localization"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"367","bibliographicPageStart":"362","bibliographic_titles":[{"bibliographic_title":"第17回アストロダイナミクスシンポジウム講演後刷り集　2007"},{"bibliographic_title":"Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"JAXA宇宙ロボティックスの発展戦略として、将来の有人宇宙活動に必要となるキー技術を国際宇宙ステーション(ISS: International Space Station)日本実験棟(JEM: Japanese Experiment Module)を利用して確立することが掲げられている。そういう経緯からJEM船外プラットフォームを利用して建設能力、検査能力、管制能力を実証する「自律EVA(Extra-Vehicular Activities)支援・代行ロボット」の開発を2011年打上げ予定に向けて進めている。限られたリソースの中で高い安全性が求められる本実験ではロボットが自己の位置を正確に知ることがクリティカルとなる。本論文ではその自己位置決定に使用される同定アルゴリズム「State Localization」を示し、EVA支援・代行ロボットに適応してみる。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"JAXA envisions that next-generation space robotics technologies are developed on JEM (Japanese Experiment Module at International Space Station). The autonomous EVA service robot has capabilities of construction, inspection, and communication with astronauts in future space missions, and is scheduled to be sent there in 2011. The robot is intended to help astronaut's EVA (Extra-Vehicular Activities), or even replace for them when assigned tasks are simple and tedious. As high-level of precision of control is required, it is critical to accurately compute a position of the robot. This paper states an overview of the EVA Service Robot, and the algorithm 'State Localization,' identifying an accurate position of the robot","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063718060","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"宇宙航空研究開発機構 総合技術研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 総合技術研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 総合技術研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 総合技術研究本部"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Aerospace Technology"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Aerospace Technology"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Aerospace Technology"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Aerospace Technology"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"加藤, 裕基"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"澤田, 弘崇"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"此上, 一也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小田, 光茂"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kato, Hiroki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Sawada, Hirotaka","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Konoue, Kazuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Oda, Mitsushige","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"自律航法","subitem_subject_scheme":"Other"},{"subitem_subject":"国際宇宙ステーション","subitem_subject_scheme":"Other"},{"subitem_subject":"船外活動","subitem_subject_scheme":"Other"},{"subitem_subject":"状態局在化","subitem_subject_scheme":"Other"},{"subitem_subject":"日本実験モジュール","subitem_subject_scheme":"Other"},{"subitem_subject":"JEM","subitem_subject_scheme":"Other"},{"subitem_subject":"JEM上のロボット実験","subitem_subject_scheme":"Other"},{"subitem_subject":"REX-J","subitem_subject_scheme":"Other"},{"subitem_subject":"位置センシング","subitem_subject_scheme":"Other"},{"subitem_subject":"アクチュエータ","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボットアーム","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"自律性","subitem_subject_scheme":"Other"},{"subitem_subject":"アルゴリズム","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"autonomous navigation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"International Space Station","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"extravehicular activity","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"state localization","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Japanese Experiment Module","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"JEM","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Robot Experiment on JEM","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"REX-J","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"position sensing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"actuator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot arm","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"autonomy","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"algorithm","subitem_subject_language":"en","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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"State localization of EVA service robot","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"State localization of EVA service robot","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1556","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7497","relation_version_is_last":true,"title":["State localization of EVA service robot"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:38:36.065474+00:00"}