{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390282680163812992.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.3156/jsoft.17.112"}},{"identifier":{"@type":"NDL_BIB_ID","@value":"7278656"}},{"identifier":{"@type":"URI","@value":"http://id.ndl.go.jp/bib/7278656"}},{"identifier":{"@type":"URI","@value":"https://ndlsearch.ndl.go.jp/books/R000000004-I7278656"}},{"identifier":{"@type":"URI","@value":"https://www.jstage.jst.go.jp/article/jsoft/17/1/17_KJ00003258417/_pdf"}},{"identifier":{"@type":"NAID","@value":"110002696382"}}],"resourceType":"学術雑誌論文(journal article)","dc:title":[{"@language":"ja","@value":"距離型ファジィ推論法に基づく案内ロボットの軌道計画法"},{"@language":"en","@value":"Trajectory Planning Method for Guide Robots Based on Distance-Type Fuzzy Reasoning Method"},{"@language":"ja-Kana","@value":"キョリガタ ファジィ スイロンホウ ニ モトヅク アンナイ ロボット ノ キドウ ケイカクホウ"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"Recently, human-friendly robots are expected to support human daily life at home, office, and scene of medical treatment and welfare with rapid declining population of children and aging problem. This research purposes to develop the guide robot that can be used in hospitals and welfare facilities etc. Concretely, in order to achieve the same performance as human guidance on a robot, first, the advanced guidance knowledge is formulated using production rules based on linguistic variables in this paper. Secondarily, a new trajectory planning method for guide robots is proposed based on quantified knowledge and distance-type fuzzy reasoning. The distance-type fuzzy reasoning method can be applied, when the common set of an antecedent part and a fact is an empty set, because this resonning uses the distance value between two fuzzy sets. Finally, the effectiveness of the proposed trajectory planning method is shown by the experiment."},{"@language":"ja","@value":"近年, 少子化・高齢化が急速に進むにつれて, 家庭やオフィス, 医療, 福祉現場で日常生活をサポートできる人間共存型ロボットが望まれるようになってきた.本論文では, 病院や福祉施設などで使用できる案内ロボットを開発することを目的としている.具体的には, 人間のような案内行動を実現するために, 本研究では, 案内についての高度な知識を言語変数を用いたプロダクションルールで定式化し, それを距離型ファジィ推論法によりロボットの軌道を制御する新規計画法を提案する.距離型ファジィ推論法は, ファジィ集合間の距離に基づいて推論を行うので, 前件部と事実との共通集合が存在しない場合にも適用できる.最後に, 実験により提案する本計画法の有効性を示す."}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410001205860569219","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000003812296"}],"foaf:name":[{"@language":"ja","@value":"溝渕 宣誠"},{"@language":"en","@value":"MIZOBUCHI Yoshinobu"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kochi University of Technology"},{"@language":"ja","@value":"高知工科大学"}]},{"@id":"https://cir.nii.ac.jp/crid/1420282801202504832","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"90250951"},{"@type":"NRID","@value":"1000090250951"},{"@type":"NRID","@value":"9000398253597"},{"@type":"NRID","@value":"9000411390855"},{"@type":"NRID","@value":"9000411390878"},{"@type":"NRID","@value":"9000411648283"},{"@type":"NRID","@value":"9000324987430"},{"@type":"NRID","@value":"9000356650460"},{"@type":"NRID","@value":"9000346989757"},{"@type":"NRID","@value":"9000346989368"},{"@type":"NRID","@value":"9000330670100"},{"@type":"NRID","@value":"9000254283288"},{"@type":"NRID","@value":"9000414098552"},{"@type":"NRID","@value":"9000404497288"},{"@type":"NRID","@value":"9000411390839"},{"@type":"NRID","@value":"9000411391070"},{"@type":"NRID","@value":"9000411648040"},{"@type":"NRID","@value":"9000411391554"},{"@type":"NRID","@value":"9000411391109"},{"@type":"NRID","@value":"9000411390789"},{"@type":"NRID","@value":"9000398986667"},{"@type":"NRID","@value":"9000346989503"},{"@type":"NRID","@value":"9000411391713"},{"@type":"NRID","@value":"9000411390792"},{"@type":"NRID","@value":"9000411390782"},{"@type":"NRID","@value":"9000411648046"},{"@type":"NRID","@value":"9000258399659"},{"@type":"NRID","@value":"9000303984669"},{"@type":"NRID","@value":"9000404497650"},{"@type":"NRID","@value":"9000411391341"},{"@type":"NRID","@value":"9000411391288"},{"@type":"NRID","@value":"9000258006855"},{"@type":"NRID","@value":"9000411648173"},{"@type":"NRID","@value":"9000001040072"},{"@type":"NRID","@value":"9000017193066"},{"@type":"NRID","@value":"9000242082219"},{"@type":"NRID","@value":"9000240067905"},{"@type":"NRID","@value":"9000413575350"},{"@type":"NRID","@value":"9000411391231"},{"@type":"NRID","@value":"9000411391389"},{"@type":"NRID","@value":"9000411390785"},{"@type":"NRID","@value":"9000241544793"},{"@type":"NRID","@value":"9000017727300"},{"@type":"NRID","@value":"9000346989687"},{"@type":"NRID","@value":"9000411391362"},{"@type":"NRID","@value":"9000346989410"},{"@type":"NRID","@value":"9000346989351"},{"@type":"NRID","@value":"9000020213208"},{"@type":"NRID","@value":"9000401432822"},{"@type":"NRID","@value":"9000398981650"},{"@type":"NRID","@value":"9000404497626"},{"@type":"NRID","@value":"9000341531846"},{"@type":"NRID","@value":"9000411390852"},{"@type":"NRID","@value":"9000411391000"},{"@type":"NRID","@value":"9000411390815"},{"@type":"NRID","@value":"9000346989555"},{"@type":"NRID","@value":"9000346989563"},{"@type":"NRID","@value":"9000404497629"},{"@type":"NRID","@value":"9000005713392"},{"@type":"NRID","@value":"9000398253114"},{"@type":"NRID","@value":"9000398253470"},{"@type":"NRID","@value":"9000411391082"},{"@type":"NRID","@value":"9000411390772"},{"@type":"NRID","@value":"9000411648008"},{"@type":"NRID","@value":"9000258007069"},{"@type":"NRID","@value":"9000346989380"},{"@type":"NRID","@value":"9000402259007"},{"@type":"NRID","@value":"9000346989568"},{"@type":"NRID","@value":"9000398256983"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/read0153930"}],"foaf:name":[{"@language":"ja","@value":"王 碩玉"},{"@language":"en","@value":"WANG Shuoyu"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kochi University of Technology"},{"@language":"ja","@value":"高知工科大学"}]},{"@id":"https://cir.nii.ac.jp/crid/1410282680163812993","@type":"Researcher","foaf:name":[{"@language":"ja","@value":"河田 耕一"},{"@language":"en","@value":"KAWATA Koichi"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kochi University of Technology"},{"@language":"ja","@value":"高知工科大学"}]},{"@id":"https://cir.nii.ac.jp/crid/1410001205227626883","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000003812297"}],"foaf:name":[{"@language":"ja","@value":"山本 正樹"},{"@language":"en","@value":"YAMAMOTO Masaki"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Matsushita Electric Industrial Co., Ltd"},{"@language":"ja","@value":"松下電器産業(株)"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"13477986"},{"@type":"EISSN","@value":"18817203"},{"@type":"NDL_BIB_ID","@value":"000003538746"},{"@type":"ISSN","@value":"13477986"},{"@type":"LISSN","@value":"13477986"},{"@type":"PISSN","@value":"http://id.crossref.org/issn/13477986"},{"@type":"NCID","@value":"AA1181479X"}],"prism:publicationName":[{"@language":"en","@value":"Journal of Japan Society for Fuzzy Theory and Intelligent Informatics"},{"@language":"ja","@value":"知能と情報"},{"@language":"en","@value":"J. SOFT"},{"@language":"ja","@value":"日本知能情報ファジィ学会誌"}],"dc:publisher":[{"@language":"en","@value":"Japan Society for Fuzzy Theory and Intelligent Informatics"},{"@language":"ja","@value":"日本知能情報ファジィ学会"}],"prism:publicationDate":"2005","prism:volume":"17","prism:number":"1","prism:startingPage":"112","prism:endingPage":"121"},"reviewed":"false","dcterms:accessRights":"http://purl.org/coar/access_right/c_abf2","url":[{"@id":"http://id.ndl.go.jp/bib/7278656"},{"@id":"https://ndlsearch.ndl.go.jp/books/R000000004-I7278656"},{"@id":"https://www.jstage.jst.go.jp/article/jsoft/17/1/17_KJ00003258417/_pdf"}],"availableAt":"2005","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=%E6%A1%88%E5%86%85%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88","dc:title":"案内ロボット"},{"@id":"https://cir.nii.ac.jp/all?q=%E8%BB%8C%E9%81%93%E8%A8%88%E7%94%BB","dc:title":"軌道計画"},{"@id":"https://cir.nii.ac.jp/all?q=%E3%83%95%E3%82%A1%E3%82%B8%E3%82%A3%E9%9B%86%E5%90%88","dc:title":"ファジィ集合"},{"@id":"https://cir.nii.ac.jp/all?q=%E3%83%95%E3%82%A1%E3%82%B8%E3%82%A3%E6%8E%A8%E8%AB%96%E6%B3%95","dc:title":"ファジィ推論法"},{"@id":"https://cir.nii.ac.jp/all?q=%E8%B7%9D%E9%9B%A2%E5%9E%8B%E3%83%95%E3%82%A1%E3%82%B8%E3%82%A3%E6%8E%A8%E8%AB%96%E6%B3%95","dc:title":"距離型ファジィ推論法"},{"@id":"https://cir.nii.ac.jp/all?q=Guide%20Robot","dc:title":"Guide Robot"},{"@id":"https://cir.nii.ac.jp/all?q=Trajectory%20Planning","dc:title":"Trajectory Planning"},{"@id":"https://cir.nii.ac.jp/all?q=Fuzzy%20Set","dc:title":"Fuzzy Set"},{"@id":"https://cir.nii.ac.jp/all?q=Fuzzy%20Reasoning","dc:title":"Fuzzy Reasoning"},{"@id":"https://cir.nii.ac.jp/all?q=Distance-Type%20Fuzzy%20Reasoning","dc:title":"Distance-Type Fuzzy Reasoning"}],"project":[{"@id":"https://cir.nii.ac.jp/crid/1040282256913632000","@type":"Project","projectIdentifier":[{"@type":"KAKEN","@value":"17500156"},{"@type":"JGN","@value":"JP17500156"},{"@type":"URI","@value":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17500156/"}],"notation":[{"@language":"ja","@value":"距離型ファジィ推論法の理論体系構築"},{"@language":"en","@value":"Theory System Construction of Distance-Type Fuzzy Reasoning Method"}]}],"relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1360855569212594048","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Approximate reasoning by linear rule 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Jijo-2."},{"@value":"オフィス移動ロボットＪｉｊｏ‐２の音声対話システム"},{"@language":"ja-Kana","@value":"オフィス イドウ ロボット Jijo 2 ノ オンセイ タイワ システム"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204725713536","@type":"Article","relationType":["references","cites"],"jpcoar:relatedTitle":[{"@value":"歩行ガイドロボット実用化のための研究開発　　マッチング・ファンド方式による産学連携研究開発事業（ＮＥＤＯ，ＪＳＰＳ）"},{"@language":"en","@value":"R & D for Practical Use of Robotic Travel Aid for the Visually Impaired"},{"@language":"ja-Kana","@value":"カイセツ ホコウ ガイド ロボット ジツヨウカ ノ タメ ノ ケンキュウ カイハツ マッチング ファンド ホウシキ ニ ヨル サンガク レンケイ ケンキュウ カイハツ ジギョウ NEDO JSPS"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204727096448","@type":"Article","relationType":["references","cites"],"jpcoar:relatedTitle":[{"@value":"産業用ロボットの昨日，今日，明日　　産業用ロボット技術の歩み"},{"@language":"en","@value":"A Trace on Manipulating Industrial Robots Engineering"},{"@language":"ja-Kana","@value":"サンギョウヨウ ロボット ギジュツ ノ アユミ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204780200448","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"CHARACTERISTIC BEHAVIOR IN FOLLOW-WALKING TO LEADING ROBOTS"},{"@value":"誘導ロボットに対する人間の追従行動"},{"@language":"ja-Kana","@value":"ユウドウ ロボット ニ タイスル ニンゲン ノ ツイジュウ コウドウ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001206518631808","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"高齢社会を支える計測制御技術　　自立歩行システム"},{"@language":"en","@value":"Walking Support System for Independent Daily Life"},{"@language":"ja-Kana","@value":"ジレイ ショウカイ ジリツ ホコウ システム"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679315540736","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"ファジィルールを用いた基本心理ベクトルに基づく自律移動ロボットの感情生成実験"},{"@language":"en","@value":"Experiment of Emotion Generation for Autonomous Mobile Robot Based on Basic Emotional Vectors Expressed with Fuzzy Rules"},{"@language":"ja-Kana","@value":"ファジィ ルール オ モチイタ キホン シンリ ベクトル ニ モトヅク ジリツ イドウ ロボット ノ カンジョウ セイセイ ジッケン"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679450914560","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"案内ロボット用のリード開発と安心性の検証"},{"@language":"en","@value":"Development and Safety Validation of Lead for a Guidance Robot"},{"@language":"ja-Kana","@value":"アンナイ ロボットヨウ ノ リード カイハツ ト アンシンセイ ノ ケンショウ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679701885952","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Fussy Trajectory Planning and Application to Robot Manipulator Path Control."},{"@value":"ファジィ軌道計画とそのロボットマニピュレータ経路制御への応用"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282679703676032","@type":"Article","relationType":["references","cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Human Friendly Robots. Technical Targets of Human Friendly Robots."},{"@value":"人間共存型ロボット　　人間共存型ロボットシステムにおける技術課題"},{"@language":"ja-Kana","@value":"ニンゲン キョウゾンガタ ロボット システム ニ オケル ギジュツ カダイ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282680162276864","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isCitedBy"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"健康増進・医療・福祉ロボット"},{"@language":"en","@value":"Robot Technology for the Health Promotion, Rehabilitation and Welfare"},{"@language":"ja-Kana","@value":"ケンコウ ゾウシン イリョウ フクシ ロボット"}]},{"@id":"https://cir.nii.ac.jp/crid/1390282680195311744","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"人と一定間隔を保つ移動ロボット制御の一方法"}]},{"@id":"https://cir.nii.ac.jp/crid/1520853834297975808","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"人間を誘導する案内ロボットの軌道計画法"},{"@language":"ja-Kana","@value":"ニンゲン オ ユウドウ スル アンナイ ロボット ノ キドウ ケイカクホウ"}]},{"@id":"https://cir.nii.ac.jp/crid/1570009749819590656","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"自立歩行システム"}]},{"@id":"https://cir.nii.ac.jp/crid/1570009750253902720","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"特集号「ファジィロボット」"}]},{"@id":"https://cir.nii.ac.jp/crid/1570009750253903872","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Influence of A Priori Knowl-edge in Subjective Interpretation and Evaluation by Short-term Interaction with Mental Commit Robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1570009751825181824","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Development and Muscle Strength Training Evaluation for Horseback Riding Therapeutic Equipment"}]},{"@id":"https://cir.nii.ac.jp/crid/1571135651658351744","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"ファジィ軌道計画とロボットマニピュレータへの応用"}]},{"@id":"https://cir.nii.ac.jp/crid/1571135651673492096","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Approximate Reasoning by Linear Rule Interpolation and General Approximation"}]},{"@id":"https://cir.nii.ac.jp/crid/1571698600114169088","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"人とコミュニケーションするロボット-車いす/受付ロボットを中心に-"}]},{"@id":"https://cir.nii.ac.jp/crid/1571980076646475648","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"MINERVA : A second-generation museum tour-guide robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1572824500021010944","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"人間と共に移動する生活支援ロボット-動作モードとインタラクション機能-"}]},{"@id":"https://cir.nii.ac.jp/crid/1573105974997720576","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"距離型ファジィ推論法"}]},{"@id":"https://cir.nii.ac.jp/crid/1574231874904564608","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"Humanoid-案内ロボット Hadaly の開発-"}]}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:2002362332"},{"@type":"NDL_SEARCH","@value":"oai:ndlsearch.ndl.go.jp:R000000004-I7278656"},{"@type":"CROSSREF","@value":"10.3156/jsoft.17.112"},{"@type":"CIA","@value":"110002696382"},{"@type":"KAKEN","@value":"PRODUCT-19003860"},{"@type":"KAKEN","@value":"PRODUCT-19003883"},{"@type":"OPENAIRE","@value":"doi_dedup___::134dbc5bb6622c1e0bbed850ccca2cb7"},{"@type":"CROSSREF","@value":"10.3130/aija.75.1399_references_DOI_98AdDxpDU931glFzH4bbXeaxzvI"}]}