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Wakayama University Graduate School of System Engineering Robotics Laboratory
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  • 1. 18 ? Wakayama University Graduate School of System Engineering Robotics Laboratory 2 ? ? ? ? ? 6 5 ? 4 xR yR zR 1 ? ? ? ? ? ? ? ? ? ? ? ? ? ? = 0.4 0 0 0 0 0 ?0.4 0 0 0.4 0 ?100 0 0 0 1 ? ? ? ? ? ? ? ? ? ? ? ? xL yL zL 1 ? ? ? ? ? ? ? ? ? ? ? ? ? ? ¦²L ¦²R ¦²L ¦²R 15 14 ? ? 13 r 30 [s] 15060 90 120 0 50 100 SUS 3 5 4 2 1 11 0 2010 30 0 2010 30 0.2 0.4 0.1 0.3 0.5 0.2 0.4 0.1 0.3 0.5 [s] [s] [s] [s] 9 0 2010 30 [s] 0 2010 30 [s] 0.4 0.8 0.2 0.6 1 0.4 0.8 0.2 0.6 1 10 0 2010 30 0 2010 30 0.2 0.4 0.1 0.3 0.5 0.2 0.4 0.1 0.3 0.5 [s] [s] [s] [s] 20 7 3