{"@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/1390581766249451648.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.7210/jrsj.42.402"}},{"identifier":{"@type":"URI","@value":"https://www.jstage.jst.go.jp/article/jrsj/42/4/42_42_402/_pdf"}}],"dc:title":[{"@language":"en","@value":"Real-time State Estimation of a Soft Finger using Stochastic Viscoelastic Parameters"},{"@language":"ja","@value":"確率的表現された粘弾性パラメータを用いた柔軟指の実時間状態推定"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"<p>State estimation is one of the key techniques to control soft robots, which is difficult to use sensors like traditional robots. Though modeling is an important process to achieve this, that of soft robots is challenging because of their highly nonlinear and uncertain behaviors. Many models were proposed, and we also proposed the one which contained stochastic distributed parameters for their uncertainty. In this study, we propose the state estimation method of a soft finger by using Kalman Filter framework. Stochastic parameters are suitable for constructing an appropriate estimator. Through an experimental validation, the performance of proposed estimator is discussed. </p>"}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410581766249451649","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Honji Sumitaka"},{"@language":"ja","@value":"本司 澄空"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"九州大学大学院工学府機械工学専攻"},{"@language":"en","@value":"Department of Mechanical Engineering, Graduate School of Engineering, Kyushu Univ."}]},{"@id":"https://cir.nii.ac.jp/crid/1410581766249451650","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Arita Hikaru"},{"@language":"ja","@value":"有田 輝"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"九州大学大学院工学研究院機械工学部門"},{"@language":"en","@value":"Department of Mechanical Engineering, Faculty of Engineering, Kyushu Univ."}]},{"@id":"https://cir.nii.ac.jp/crid/1410581766249451648","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Tahara Kenji"},{"@language":"ja","@value":"田原 健二"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"九州大学大学院工学研究院機械工学部門"},{"@language":"en","@value":"Department of Mechanical Engineering, Faculty of Engineering, Kyushu Univ."}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"02891824"},{"@type":"EISSN","@value":"18847145"}],"prism:publicationName":[{"@language":"en","@value":"Journal of the Robotics Society of Japan"},{"@language":"ja","@value":"日本ロボット学会誌"},{"@language":"en","@value":"JRSJ"},{"@language":"ja","@value":"ロボット学会誌"},{"@language":"en","@value":"Journal of the Robotics Society of Japan"},{"@language":"ja","@value":"日本ロボット学会誌"}],"dc:publisher":[{"@language":"en","@value":"The Robotics Society of Japan"},{"@language":"ja","@value":"一般社団法人 日本ロボット学会"}],"prism:publicationDate":"2024","prism:volume":"42","prism:number":"4","prism:startingPage":"402","prism:endingPage":"405"},"reviewed":"false","url":[{"@id":"https://www.jstage.jst.go.jp/article/jrsj/42/4/42_42_402/_pdf"}],"availableAt":"2024","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=Soft%20Robotics","dc:title":"Soft Robotics"},{"@id":"https://cir.nii.ac.jp/all?q=State%20Estimation","dc:title":"State Estimation"},{"@id":"https://cir.nii.ac.jp/all?q=Stochastic%20Parameter","dc:title":"Stochastic Parameter"}],"relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1360018990802037888","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Efficient Implementation of Continuous-Discrete Extended Kalman Filters for State and Parameter Estimation of Nonlinear Dynamic Systems"}]},{"@id":"https://cir.nii.ac.jp/crid/1360300466813417856","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Computational aspects of continuous–discrete extended Kalman-filtering"}]},{"@id":"https://cir.nii.ac.jp/crid/1360581940738179712","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Stochastic approach for modeling soft fingers with creep behavior"}]},{"@id":"https://cir.nii.ac.jp/crid/1360581941484487936","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"How To NOT Make the Extended Kalman Filter Fail"}]},{"@id":"https://cir.nii.ac.jp/crid/1360863416618360576","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Probabilistic Modeling and Bayesian Filtering for Improved State Estimation for Soft Robots"}]},{"@id":"https://cir.nii.ac.jp/crid/1361418518609236480","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Design, fabrication and control of soft robots"}]},{"@id":"https://cir.nii.ac.jp/crid/1361981469673831808","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Soft Material Characterization for Robotic Applications"}]},{"@id":"https://cir.nii.ac.jp/crid/1363388843236339712","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Control Strategies for Soft Robotic Manipulators: A Survey"}]},{"@id":"https://cir.nii.ac.jp/crid/1363388846169565696","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Simultaneous state of charge and parameter estimation of lithium-ion battery using log-normalized unscented Kalman Filter"}]}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:2012783844"},{"@type":"CROSSREF","@value":"10.7210/jrsj.42.402"},{"@type":"OPENAIRE","@value":"doi_________::14e9151e924c8a592c66d3b2e3f95e92"}]}