調理ロボットで学んだ自動化のコツ

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ௐཧϩϘοτͰֶΜͩ ࣗಈԽͷίπ ౦ژେֶେֶӃిؾܥ޻ֶઐ߈ɹٶ෢ᣈࢠ

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ྉཧʷ΋ͷͮ͘Γ ٶ෢ᣈࢠ ࠷ۙ͸ݚڀͯ͠·͢

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ௐཧͷࣗಈԽ

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ே৯ϩϘοτ ʢʣ

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ͳΜͰ΋͔ͭΊΔϋϯυʁ ࣗࡏʹಈ͚ΔϩϘοτʁ "*Ͱ෺ମݕ஌ʁ

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https://youtu.be/Wl8ggFsR2zA

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ສԁͷϩϘοτ %ϓϦϯλͰ࡞ͬͨϋϯυ ϩϘοτͷγεςϜ

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େֶੜਓͰ όʔδϣϯϲ݄Ͱ੍࡞

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࿡ຊ໦ͷϗςϧͰ࣮ূ࣮ݧ

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ɹϓϩδΣΫτ։࢝ ɹબߟձͰσϞʢWFSʣ ɹςΩαεͰలࣔʢWFSʣ ɹϗςϧͰ࣮ূ࣮ݧʢWFSʣ εέδϡʔϧ

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ɹϓϩδΣΫτ։࢝ ɹબߟձͰσϞʢWFSʣ ɹςΩαεͰలࣔʢWFSʣ ɹϗςϧͰ࣮ূ࣮ݧʢWFSʣ εέδϡʔϧ ϲ݄ͷ௕ظٳՋͰόʔδϣϯΛ੍࡞

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࠷଎Ͱ࡞ΔͨΊͷ ཁ݅ఆٛ

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ே৯ϩϘοτͰ΍Γ͍ͨ͜ͱ ɾΞϓϦͰϝχϡʔબ୒Ͱ͖Δ ɾύϯΛম͘ ɾ͝൧Λਬ͘ ɾཛΛׂΔ ɾ໨ۄম͖Λ࡞Δ ɾϕʔίϯΛম͘ ɾ໺ࡊΛম͘ ɾίʔώʔΛυϦοϓ͢Δ ɾίʔώʔΛग़͢ ɾिؒ෼ͷ৯ࡐΛอଘͰ͖Δ ɾௐຯྉͰຯ෇͚͢Δ ɾম͖ՃݮΛΧϝϥͰೝࣝ͢Δ ɾϕου·Ͱே৯Λ͍࣋ͬͯ͘ ɾΦϜϨπΛ࡞Δ ɾ໨ۄম͖ͷݻ͞Λௐ੔͢Δ ɾϕʔίϯͷম͖ՃݮΛ޷Έʹ߹ΘͤΔ ɾ໺ࡊΛ੾Δ ɾ੝Γ෇͚Λ͢Δ ɾຯḩोΛ࡞Δ ɾཛম͖Λ࡞Δ ɾ໺ࡊͷछྨΛ೔ʹΑͬͯม͑Δ ɾຯ෇͚ΛΧελϚΠζͰ͖Δ ɾΞϓϦ͔Β৯ࡐΛ஫จͰ͖Δ ɾ໨֮ΊΔͱಉ࣌ʹྉཧ͕Ͱ͖ͯΔ

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೥͔͚ͯ׬ᘳͳ΋ͷΛ࡞Δ ϲ݄Ͱͦͦ͜͜ಈ͘΋ͷΛ࡞Δ

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ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢

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ே৯ϩϘοτͰ΍Γ͍ͨ͜ͱ ɾௐຯྉͰຯ෇͚͢Δ ɾ੝Γ෇͚Λ͢Δ ɾίʔώʔΛग़͢ ɾཛΛׂΔ ɾϕου·Ͱே৯Λ͍࣋ͬͯ͘ ɾΦϜϨπΛ࡞Δ ɾ໨ۄম͖ͷݻ͞Λௐ੔͢Δ ɾϕʔίϯͷম͖ՃݮΛ޷Έʹ߹ΘͤΔ ɾ໺ࡊΛ੾Δ ɾຯḩोΛ࡞Δ ɾཛম͖Λ࡞Δ ɾ໺ࡊͷछྨΛ೔ʹΑͬͯม͑Δ ɾຯ෇͚ΛΧελϚΠζͰ͖Δ ɾΞϓϦ͔Β৯ࡐΛ஫จͰ͖Δ ɾ໨֮ΊΔͱಉ࣌ʹྉཧ͕Ͱ͖ͯΔ ɾίʔώʔΛυϦοϓ͢Δ ɾম͖ՃݮΛΧϝϥͰೝࣝ͢Δ ɾिؒ෼ͷ৯ࡐΛอଘͰ͖Δ ɾ͝൧Λਬ͘ ɾΞϓϦͰϝχϡʔબ୒Ͱ͖Δ ΍Δ ઈର΍Δ͜ͱ ɾύϯΛম͘ ɾ໨ۄম͖Λ࡞Δ ɾϕʔίϯΛম͘ ɾ໺ࡊΛম͘ ՋͳΒ΍Δ͜ͱ ΍Βͳ͍͍ͯ͘͜ͱ

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޻ఔͷॻ͖ग़͠ ઈର΍Δ͜ͱ ɾύϯΛম͘ ɾ໨ۄম͖Λ࡞Δ ɾϕʔίϯΛম͘ ɾ໺ࡊΛম͘ ύϯΛऔΓग़͢ ύϯΛτʔελʔʹೖΕΔ τʔελʔͷεΠονΛೖΕΔ ׂΒΕͨཛΛऔΓग़͢ ཛΛম͘ ໺ࡊΛऔΓग़͢ ໺ࡊΛম͘ ϕʔίϯΛऔΓग़͢ ϕʔίϯΛম͘

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ڞ௨͢ΔཁૉΛऔΓग़͢ ύϯΛऔΓग़͢ ύϯΛτʔελʔʹೖΕΔ τʔελʔͷεΠονΛೖΕΔ ׂΒΕͨཛΛऔΓग़͢ ཛΛম͘ ໺ࡊΛऔΓग़͢ ໺ࡊΛম͘ ϕʔίϯΛऔΓग़͢ ϕʔίϯΛম͘ Ճ೤ௐཧ ৯ࡐͷϐοΫΞοϓ ৯ࡐͷอ؅ ྫ

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֤ཁૉʹඞཁͳγεςϜઃܭ ύϯΛऔΓग़͢ ύϯΛτʔελʔʹೖΕΔ τʔελʔͷεΠονΛೖΕΔ ׂΒΕͨཛΛऔΓग़͢ ཛΛম͘ ໺ࡊΛऔΓग़͢ ໺ࡊΛম͘ ϕʔίϯΛऔΓग़͢ ϕʔίϯΛম͘ Ճ೤ௐཧ ৯ࡐͷϐοΫΞοϓ ৯ࡐͷอ؅ ྫ

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࠷଎Ͱಈ͘΋ͷΛ࡞Δʹ͸ʁ

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࠷଎Ͱಈ͘΋ͷΛ࡞Δʹ͸ʁ ϩϘοτͷ͖΋ͪΛߟ͑Δ

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ϩϘοτͷ͖΋ͪͰ γεςϜઃܭ

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ܗ͕ҧ͏΋ͷۤख ॏ͍΋ͷ࣋ͪͨ͘ͳ͍ ԕ͘·Ͱख͕ಧ͔ͳ͍

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Ճ೤ௐཧ

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ΦʔϒϯϨϯδ Ճ೤ௐཧ

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Ճ೤ௐཧ

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൶͸ҙ֎ʹॏ͍ λονύωϧݏ Ԟ·Ͱख͕ಧ͔ͳ͍ Ճ೤ௐཧ

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ϗοτϓϨʔτʹ ஔ͚ͩ͘ Ճ೤ௐཧ

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໺ࡊ ৯ࡐͷϐοΫΞοϓ

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ܗ͕όϥόϥ ͔ͨ͞΋όϥόϥ Ӵੜతʹ৮Γͨ͘ͳ͍ ৯ࡐͷϐοΫΞοϓ

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ΧοϓʹೖΕΔ ৯ࡐͷϐοΫΞοϓ

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ྫྷଂݿ ৯ࡐͷอଘ

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൶͸ҙ֎ʹॏ͍ Ԟ·Ͱख͕ಧ͔ͳ͍ ҐஔΛೝࣝ͢Δඞཁ ৯ࡐͷอଘ

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खલʹ ৯΂෺͕ग़ͯ͘Δ୨ ৯ࡐͷอଘ

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ࣗಈԽͷίπ

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ώτͷಈ࡞Λ ͦͷ··ϩϘοτԽ͢Δ

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ϩϘοτͷ͖΋ͪʹͳͬͯ γεςϜઃܭ

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ϩϘοτʹ༏͍͠γεςϜઃܭ ࣮૷͕γϯϓϧʹ ࠷଎Ͱಈ͘ϓϩτλΠϓΛ࡞ΕΔ

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ಈ͘΋ͷͷ࡞Γํ

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ΫϨʔϓ੝Γ෇͚ϩϘοτ ʢʣ

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ΫϨʔϓੜ஍Λ࡞ΔϩϘοτͱ ίϥϘاը ΫϨʔϓ੝Γ෇͚ϩϘοτ ʢʣ

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.PSJSPCPΫϨʔϓͷੜ஍Λম͘ϩϘοτ

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ੜ஍Λম͍ͨޙͷ੝Γ෇͚Λ ࣗಈԽ͠·ͤΜ͔ʁ

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ΫϨʔϓ੝Γ෇͚ϩϘοτ ϲ݄ޙʹలࣔձʂ

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࠷଎ͰϓϩτλΠϓ࡞Γ ΫϨʔϓ੝Γ෇͚ϩϘοτ ϲ݄ޙʹలࣔձʂ

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ϓϩδΣΫτ࢝ಈ

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޻ఔͷॻ͖ग़͠

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https://www.youtube.com/watch?v=xmNcTNnMALo

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޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

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޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

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޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

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ϩϘοτʹͳΓ͖ͬͯ ϓϩτλΠϓ࡞Γ

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޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

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ΫϦʔϜΛͷͤΔ ϩϘοτϋϯυͰΫϦʔϜΛߜΓͳ͕Β ϩϘοτΞʔϜΛಈ͔ͯ͠ ੜ஍ͷಛఆͷ৔ॴʹΫϦʔϜΛͷͤΔ

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ΫϦʔϜΛͷͤΔ ϩϘοτϋϯυͰΫϦʔϜΛߜΓͳ͕Β ϩϘοτΞʔϜΛಈ͔ͯ͠ ੜ஍ͷಛఆͷ৔ॴʹΫϦʔϜΛͷͤΔ ΰʔϧ

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ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ

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ΫϦʔϜΛͷͤΔ Ұؾʹ࣮૷͢Δͱࣦഊͨ͠ͱ͖ʹ θϩ͔Β΍Γ௚͢ඞཁ͕͋Δ ΰʔϧ θϩ

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ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏

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ΫϦʔϜΛͷͤΔ ໨ඪΛ۠੾Δͱࣦഊͯ͠΋ Ұͭલͷͱ͜Ζʹ໭Δ͚ͩ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏

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ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏ ϋϯυऔΓ෇͚ ΞʔϜಈ࡞ ΫϦʔϜΛग़͢

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ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏ ϋϯυऔΓ෇͚ ΞʔϜಈ࡞ ΫϦʔϜΛग़͢ ଞͷػೳ͕࣮૷͞Εͯͳ͍

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ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ଞͷػೳ͕࣮૷͞Εͯͳ͍ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏ ΫϦʔϜΛग़͢ ϋϯυऔΓ෇͚ ΞʔϜಈ࡞ ࣗ෼͕ϩϘοτʹͳΓ͖ͬͯಈ࡞Λิ͏

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ΫϦʔϜΛͷͤΔ ߜΓା εϓϨʔ؈

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ߜΓା εϓϨʔ؈ ΫϦʔϜΛͷͤΔ

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ΫϦʔϜΛͷͤΔ

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ΫϦʔϜΛͷͤΔ

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ΫϦʔϜΛͷͤΔ

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ΫϦʔϜΛͷͤΔ

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ΫϦʔϜΛग़͠ͳ͕Β ಈ͔ͤΔΑ͏ʹ ։࢝िؒ ΫϦʔϜΛͷͤΔ

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ΫοΩʔ͕ೖͬͨ ΧοϓΛͻͬ͘Γฦ͢ ΫοΩʔΛͷͤΔ

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޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

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ંΓͨͨΉ ೉ͦ͠͏͔ͩΒ ఘΊΑ͏

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೉ͦ͠͏͔ͩΒ ఘΊΑ͏ ંΓͨͨΉ

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ંΓͨͨΉ https://www.youtube.com/watch?v=xmNcTNnMALo

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ώτͱಉ͡ಈ࡞ ϩϘοτʹ༏͍͠ಈ࡞ ંΓͨͨΉ

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ώτͱಉ͡ಈ࡞ ϩϘοτʹ༏͍͠ಈ࡞ ંΓͨͨΉ ॊΒ͔͍΋ͷΛ͔ͭΉͷ͸ۤख

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ંΓͨͨΉ

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ϩϘοτʹͳΓ͖ͬͯಈ࡞Λิ͏ ·࣮ͩ૷ͯ͠ͳ͍ػೳΛؚΊͨ Ұ࿈ͷಈ࡞ΛΠϝʔδͰ͖Δ

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ંΓͨͨΉ ϩϘοτͱંΓͨͨΈ૷ஔʹͳΓ͖Δਓ

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ંΓͨͨΉ ંΓͨͨΈ૷ஔʹͳΓ͖Δਓ

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ંΓͨͨΉ ϞʔλݻఆύʔπʹͳΓ͖ΔਓʴϩϘοτʹͳΓ͖Δਓ

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%ϓϦϯλͰ ϓϩτλΠϓ੍࡞ ંΓͨͨΉ ඞཁͳػೳ͕ Θ͔ͬͨ

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ંΓͨͨΉ

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εςϯϨεͷ൘ۚ ંΓͨͨΉ

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ંΓͨͨΊΔΑ͏ʹ ંΓͨͨΉ

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޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

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ఏڙ͢Δ

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ઃܭͨ͠ ϕϧτίϯϕΞͰ੒ޭ ఏڙ͢Δ

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޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

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ࠃࡍϩϘοτల https://youtu.be/HoCc6Pex0ns

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࠷଎Ͱ࡞ͬͨϓϩτλΠϓ͸ ࡉ͔͍վળ఺͕͍ͬͺ͍ ஫ҙ఺

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࠷଎Ͱ࡞ͬͨϓϩτλΠϓ͸ ࡉ͔͍վળ఺͕͍ͬͺ͍ ஫ҙ఺ ಈ͔͢ˠվྑͷϧʔϓΛճ͢

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ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢

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ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢ प͙Β͍͢Δͱ ͍͍ײ͡ͷ΋ͷ͕Ͱ͖Δ

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·ͱΊ

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ϩϘοτʹ༏͍͠γεςϜઃܭ ࣮૷͕γϯϓϧʹ ࠷଎Ͱಈ͘΋ͷΛ࡞ΕΔ

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ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢ पͯ͠׬੒౓Λ্͛Δ

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ϩϘοτʹ༏͘͠ ࠷଎ͰϓϩτλΠϓ ࡞Γ·͠ΐ͏ʂ σόοά͢ΔΫϨʔϓళһ