{"id":50,"date":"2020-12-06T17:53:55","date_gmt":"2020-12-06T08:53:55","guid":{"rendered":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?page_id=50"},"modified":"2020-12-06T22:43:14","modified_gmt":"2020-12-06T13:43:14","slug":"%ef%bc%9c%e9%9b%a2%e6%95%a3%e5%80%a4%e9%a7%86%e5%8b%95%e5%9e%8b%e3%83%9e%e3%83%8b%e3%83%94%e3%83%a5%e3%83%ac%e3%83%bc%e3%82%bf%ef%bc%9e","status":"publish","type":"page","link":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?page_id=50","title":{"rendered":"\uff1c\u96e2\u6563\u5024\u99c6\u52d5\u578b\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\uff1e"},"content":{"rendered":"\n<h2>\u201cD-ARM\u201d (Discretely-Actuated Robotic Manipulator)<\/h2>\n\n\n\n<p>\u7523\u696d\u754c\u3068\u304f\u306b\u88fd\u9020\u73fe\u5834\u306b\u5411\u3051\u3066\u69d8\u3005\u306a\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u6a5f\u5668\u304c\u8a2d\u8a08\u88fd\u4f5c\u3055\u308c\u3066\u3044\u307e\u3059\uff0e\u305d\u306e\u4e2d\u3067\u7279\u306b\u30ed\u30dc\u30c3\u30c8\u7cfb\u306e\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u306b\u306f\u4e3b\u306bAC\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u304c\u4f7f\u308f\u308c\u3066\u3044\u307e\u3059\uff0e\u3053\u308c\u306f\u8907\u96d1\u306a\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\uff08\u4f8b\uff1a\u8907\u96d1\u304b\u3064\u7cbe\u7dfb\u306a\u30a2\u30fc\u30e0\u624b\u5148\u8ecc\u8de1\u5236\u5fa1\uff09\u306b\u304a\u3044\u3066\u306f\u5fc5\u9808\u306e\u69cb\u6210\u8981\u7d20\u3067\u3059\u304c\uff0c\u540c\u6642\u306b\u30c9\u30e9\u30a4\u30d0\u3068\u5236\u5fa1\u7cfb\u3092\u542b\u3081\u305f\u30b3\u30b9\u30c8\u3078\u306e\u5927\u304d\u306a\u5f71\u97ff\u304c\u907f\u3051\u3089\u308c\u307e\u305b\u3093\uff0e\u3057\u304b\u3057\u6bd4\u8f03\u7684\u30b7\u30f3\u30d7\u30eb\u306a\u52d5\u4f5c\uff08\u4f8b\uff1a\u624b\u5148\u6307\u4ee4\u4f4d\u7f6e\u304c\u8907\u6570\u70b9\u306e\u307f\u5b9a\u3081\u3089\u308c\u9014\u4e2d\u8ecc\u8de1\u304c\u91cd\u8996\u3055\u308c\u306a\u3044\u4f5c\u696d\uff09\u3067\u3042\u308c\u3070\uff0c\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u3092\u30b7\u30b9\u30c6\u30e0\u306b\u7d44\u307f\u8fbc\u307e\u306d\u3070\u306a\u3089\u306a\u3044\u5fc5\u7136\u6027\u304c\u5931\u308f\u308c\uff0c\u3088\u308a\u7c21\u5358\u306a\u69cb\u6210\u8981\u7d20\u3067\u5145\u5206\u306a\u30b7\u30b9\u30c6\u30e0\u3092\u69cb\u7bc9\u53ef\u80fd\u3068\u8003\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u5f8c\u8005\u306e\u6a5f\u5668\u69cb\u6210\u8ad6\u306f\u300c\u6700\u5c0f\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u7cfb\uff08Minimal mechatronics\uff09\u300d\u3042\u308b\u3044\u306f\u300c\u7d20\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u7cfb\uff08Prime mechatronics)\u300d\u3068\u547c\u3070\u308c\u308b\u30b7\u30b9\u30c6\u30e0\u306e\u8a2d\u8a08\u554f\u984c\u306b\u5e30\u7740\u3057\u307e\u3059[Erdman, Mason]\uff0e\u3053\u308c\u306f\u4f8b\u3048\u3070\u300c\u91e3\u92ad\u8a08\u7b97\u306b\u30b9\u30fc\u30d1\u30fc\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306f\u904e\u5270\u3067\u3042\u3063\u3066\u96fb\u5353\u3067\u5145\u5206\u300d\u3068\u3044\u3063\u305f\u4e00\u822c\u5e38\u8b58\u3092\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u7cfb\u8a2d\u8a08\u3078\u9069\u7528\u3057\u305f\u3068\u7406\u89e3\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059[Miller, Goldberg]\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-2 is-cropped\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"603\" height=\"453\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_SuperComp.png\" alt=\"\" data-id=\"111\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_SuperComp.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=111\" class=\"wp-image-111\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_SuperComp.png 603w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_SuperComp-300x225.png 300w\" sizes=\"(max-width: 603px) 100vw, 603px\" \/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"500\" height=\"500\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_Calculator.png\" alt=\"\" data-id=\"108\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_Calculator.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=108\" class=\"wp-image-108\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_Calculator.png 500w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_Calculator-300x300.png 300w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_DARM_Calculator-150x150.png 150w\" sizes=\"(max-width: 500px) 100vw, 500px\" \/><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p>\u3053\u306e\u3088\u3046\u306a\u8003\u3048\u65b9\u306b\u57fa\u3065\u304f\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u69cb\u6210\u6cd5\u3068\u3057\u3066\u300c\u96e2\u6563\u5024\u99c6\u52d5\u578b\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u3000\u201cD-ARM\u201d (Discretely-Actuated Robotic Manipulator)\u300d\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059[Chirikjian, Miyahara]\uff0eD-ARM\u306f\uff0c\u96e2\u6563\u5b89\u5b9a\u70b9\u3092\u6301\u3064\u99c6\u52d5\u8981\u7d20\uff08\u4f8b\uff1a\u7a7a\u6c17\u5727\u30b7\u30ea\u30f3\u30c0\uff09\u306b\u3088\u308a\u69cb\u6210\u3055\u308c\u308b\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u3067\u3042\u308a\u300c\u30b7\u30f3\u30d7\u30eb\uff0c\u5b89\u4fa1\uff0c\u9ad8\u7cbe\u5ea6\uff08\u7e70\u8fd4\u3057\u7cbe\u5ea6\uff09\u300d\u3068\u3044\u3046\u7279\u5fb4\u3092\u6301\u3063\u3066\u3044\u307e\u3059\uff0e\u672c\u7814\u7a76\u306e\u76ee\u7684\u306f\uff0c\u5fc5\u8981\u6700\u5c0f\u9650(Necessary minimum)\u306e\u30b7\u30b9\u30c6\u30e0\u8ad6\u3092\u8003\u5bdf\u3059\u308b\u3053\u3068\u3067\uff0c\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u7cfb\u306b\u304a\u3051\u308b\u8cc7\u6e90\u91cf\u5bfe\u52b9\u679c\u306e\u6700\u9069\u5316\u3092\u76ee\u6307\u3059\u3053\u3068\u306b\u3042\u308a\u307e\u3059\uff0e\u5177\u4f53\u7684\u306b\u306f\uff0c\u4e0e\u6761\u4ef6\u3067\u3042\u308b\u8981\u6c42\u6027\u80fd\u304b\u3089\uff0c\u305d\u308c\u3092\u6e80\u305f\u3059\u300c\u6700\u5c0f\u30b7\u30b9\u30c6\u30e0\u300d\u3092\u8a2d\u8a08\u3059\u308b\u624b\u6bb5\u3092\u69cb\u7bc9\u3059\u308b\u3053\u3068\u304c\u76f4\u8fd1\u306e\u76ee\u6a19\u3067\u3059\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-2 is-cropped\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"503\" height=\"743\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_3D_BARMs.png\" alt=\"\" data-id=\"106\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_3D_BARMs.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=106\" class=\"wp-image-106\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_3D_BARMs.png 503w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Photo_3D_BARMs-203x300.png 203w\" sizes=\"(max-width: 503px) 100vw, 503px\" \/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"1024\" height=\"659\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Figure_DARM_CompScheme-1024x659.png\" alt=\"\" data-id=\"43\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Figure_DARM_CompScheme.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=43\" class=\"wp-image-43\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Figure_DARM_CompScheme-1024x659.png 1024w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Figure_DARM_CompScheme-300x193.png 300w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Figure_DARM_CompScheme-768x494.png 768w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Figure_DARM_CompScheme-624x402.png 624w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/Figure_DARM_CompScheme.png 1044w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p>\u4e0a\u56f3\u306f\u3000D-ARM\u306e\u8a66\u4f5c\u6a5f\u3067\u3059\uff0e\u96e2\u6563\u5024\u99c6\u52d5\u3055\u308c\u308bD-ARM\u3067\u306f\u624b\u5148\u7a7a\u9593\u3082\u96e2\u6563\u8868\u73fe\u3055\u308c\u307e\u3059\u304c\uff0c\u30b7\u30b9\u30c6\u30e0\u3092\u8d85\u591a\u81ea\u7531\u5ea6\uff08Hyper-redandunt\uff09\u3068\u3059\u308b\u3053\u3068\u3067\u96e2\u6563\u70b9\u304c\u9ad8\u5bc6\u5ea6\u5316\u3055\u308c\uff0c\u6240\u671b\u624b\u5148\u4f4d\u7f6e\u3092\u8fd1\u4f3c\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3068\u306a\u308a\u307e\u3059\uff0e\u305f\u3060\u3057\u5fc5\u8981\u7cbe\u5ea6\u306b\u5fdc\u3058\u3066\u5b9a\u3081\u308b\u81ea\u7531\u5ea6\u306e\u5897\u52a0\u306b\u4f34\u3063\u3066\uff0c\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u52d5\u4f5c\u306b\u95a2\u3059\u308b\u76f4\u611f\u6027\u304c\u6025\u6fc0\u306b\u5931\u308f\u308c\u308b\u3053\u3068\u306b\u6ce8\u610f\u304c\u5fc5\u8981\u3067\u3059\uff0e\u3059\u306a\u308f\u3061D-ARM\u306e\u5b9f\u7528\u5316\u3092\u8003\u3048\u308b\u5834\u5408\u306b\u306f\uff0c\u307e\u305a\u9806\u554f\u984c\uff08\u304b\u3064\u8d85\u591a\u81ea\u7531\u5ea6\u554f\u984c\uff09\u3068\u3057\u3066\uff0c\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30bf\u5f62\u614b\uff08configuration\uff09\u306e\u5b9a\u5f0f\u5316\u3068\u305d\u306e\u9ad8\u901f\u8a08\u7b97\u624b\u6cd5\u306e\u958b\u767a\u304c\u5fc5\u8981\u3067\u3042\u308a\uff0c\u3055\u3089\u306b\u9006\u554f\u984c\u3068\u3057\u3066\uff0c\u6240\u671b\u624b\u5148\u4f4d\u7f6e\u306e\u96c6\u5408\u3092\u4e0e\u6761\u4ef6\u3068\u3057\u3066\u30b7\u30b9\u30c6\u30e0\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u6c42\u89e3\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308c\u3070\u300c\u5fc5\u8981\u6700\u5c0f\u9650\u306e\u30b7\u30f3\u30d7\u30eb\u306a\u6a5f\u5668\u69cb\u6210\u300d\u306b\u3088\u3063\u3066\u8981\u6c42\u52d5\u4f5c\u3092\u9054\u6210\u3059\u308b\u30b7\u30b9\u30c6\u30e0\u304c\u8a2d\u8a08\u53ef\u80fd\u3068\u306a\u308a\u307e\u3059\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-2 is-cropped\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"1005\" height=\"1024\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_B4-1005x1024.png\" alt=\"\" data-id=\"137\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_B4.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=137\" class=\"wp-image-137\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_B4-1005x1024.png 1005w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_B4-295x300.png 295w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_B4-768x782.png 768w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_B4-624x636.png 624w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_B4.png 1078w\" sizes=\"(max-width: 1005px) 100vw, 1005px\" \/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"1004\" height=\"1024\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_AFT-1004x1024.png\" alt=\"\" data-id=\"136\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_AFT.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=136\" class=\"wp-image-136\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_AFT-1004x1024.png 1004w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_AFT-294x300.png 294w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_AFT-768x783.png 768w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_AFT-624x636.png 624w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/3DBARM_AFT.png 1077w\" sizes=\"(max-width: 1004px) 100vw, 1004px\" \/><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p>\u3053\u308c\u307e\u3067\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u7814\u7a76\u3092\u9032\u3081\u3066\u304d\u307e\u3057\u305f\uff1a<br>\u3000D-ARM\u8a2d\u8a08\u9806\uff0f\u9006\u554f\u984c\u3092\u89e3\u6c7a\u3057\u8a2d\u8a08\u624b\u6cd5\u3092\u6574\u5099<br>\u3000\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3088\u3063\u3066\u5b9f\u52b9\u6027\u3092\u691c\u8a3c<br>\u3000\u8a2d\u8a08\u30d7\u30ed\u30bb\u30b9\u524d\u51e6\u7406\u624b\u6cd5\u3092\u8003\u5bdf<br>\u3000\u3000\u30fbD-ARM\u56fa\u5b9a\u5ea7\u6a19\u306e\u6700\u9069\u5316\u624b\u6cd5\uff08\u8a2d\u8a08\u524d\u8aa4\u5dee\u306e\u6700\u5c0f\u5316\uff09<br>\u3000\u3000\u30fb3\u6b21\u5143\u7a7a\u9593\u5185\u306e\u4efb\u610f\u5ea7\u6a19\u30d5\u30ec\u30fc\u30e0\u9593\u306e\u6700\u9069\u5206\u5272\u624b\u6cd5<br>\u3053\u308c\u3089\u3092\u542b\u3080\u7814\u7a76\u6210\u679c\u306b\u3064\u3044\u3066\u306f <a rel=\"noreferrer noopener\" href=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?page_id=53\" target=\"_blank\">Publications<\/a> \u3092\u3054\u89a7\u304f\u3060\u3055\u3044\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-2 is-cropped\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"891\" height=\"827\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterp.png\" alt=\"\" data-id=\"140\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterp.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=140\" class=\"wp-image-140\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterp.png 891w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterp-300x278.png 300w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterp-768x713.png 768w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterp-624x579.png 624w\" sizes=\"(max-width: 891px) 100vw, 891px\" \/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" width=\"917\" height=\"1024\" src=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterpResults-917x1024.png\" alt=\"\" data-id=\"139\" data-full-url=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterpResults.png\" data-link=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/?attachment_id=139\" class=\"wp-image-139\" srcset=\"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterpResults-917x1024.png 917w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterpResults-269x300.png 269w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterpResults-768x858.png 768w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterpResults-624x697.png 624w, https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/wp-content\/uploads\/2020\/12\/FrameInterpResults.png 1025w\" sizes=\"(max-width: 917px) 100vw, 917px\" \/><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u201cD-ARM\u201d (Discretely-Actuated Robotic Manipulator) \u7523\u696d\u754c\u3068\u304f\u306b\u88fd\u9020\u73fe\u5834\u306b\u5411\u3051\u3066\u69d8\u3005\u306a\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u6a5f\u5668\u304c\u8a2d\u8a08\u88fd\u4f5c\u3055\u308c\u3066\u3044\u307e\u3059\uff0e\u305d\u306e\u4e2d\u3067\u7279\u306b\u30ed\u30dc\u30c3\u30c8\u7cfb\u306e\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u306b\u306f\u4e3b [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":22,"menu_order":3,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=\/wp\/v2\/pages\/50"}],"collection":[{"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=50"}],"version-history":[{"count":4,"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=\/wp\/v2\/pages\/50\/revisions"}],"predecessor-version":[{"id":141,"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=\/wp\/v2\/pages\/50\/revisions\/141"}],"up":[{"embeddable":true,"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=\/wp\/v2\/pages\/22"}],"wp:attachment":[{"href":"https:\/\/ist.ksc.kwansei.ac.jp\/~miyahara\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=50"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}