{"id":387,"date":"2025-06-26T14:13:27","date_gmt":"2025-06-26T05:13:27","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=387"},"modified":"2025-06-26T14:13:28","modified_gmt":"2025-06-26T05:13:28","slug":"%e3%80%90%e9%96%8b%e7%99%ba%e3%80%91unitree-go2%e3%81%ae%e9%9f%b3%e5%a3%b0%e5%85%a5%e5%87%ba%e5%8a%9b%e3%81%ae%e6%93%8d%e4%bd%9c%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=387","title":{"rendered":"\u3010\u958b\u767a\u3011Unitree Go2\u306e\u97f3\u58f0\u5165\u51fa\u529b\u306e\u64cd\u4f5c\u65b9\u6cd5"},"content":{"rendered":"\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_74 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/robolease.disr-inc.com\/?p=387\/#%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\" >\u306f\u3058\u3081\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=387\/#%E9%96%8B%E7%99%BA%E7%92%B0%E5%A2%83\" >\u958b\u767a\u74b0\u5883<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=387\/#%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99\" >\u4e8b\u524d\u6e96\u5099<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=387\/#SDK%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" >SDK\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=387\/#%E3%82%B9%E3%83%94%E3%83%BC%E3%82%AB%E3%83%BC%E3%81%AE%E4%BD%BF%E7%94%A8\" >\u30b9\u30d4\u30fc\u30ab\u30fc\u306e\u4f7f\u7528<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=387\/#%E6%9C%AC%E4%BD%93%E3%81%8B%E3%82%89%E3%83%9E%E3%82%A4%E3%82%AF%E5%85%A5%E5%8A%9B%E3%81%AE%E5%8F%96%E5%BE%97\" >\u672c\u4f53\u304b\u3089\u30de\u30a4\u30af\u5165\u529b\u306e\u53d6\u5f97<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=387\/#%E3%81%8A%E3%82%8F%E3%82%8A%E3%81%AB\" >\u304a\u308f\u308a\u306b<\/a><\/li><\/ul><\/nav><\/div>\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\"><\/span>\u306f\u3058\u3081\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>Unitree Go2\u306b\u6a19\u6e96\u3067\u88c5\u5099\u3055\u308c\u3066\u3044\u308b\u30b9\u30d4\u30fc\u30ab\u30fc\u3068\u30de\u30a4\u30af\u3092\u4f7f\u7528\u3057\u3066\u3001\u958b\u767a\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u3092\u4f5c\u6210\u3057\u3066\u307f\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002\u516c\u5f0f\u3067\u306f\u30012025\u5e74\uff16\u6708\u6642\u70b9\u3067\u306f\u3001\u30aa\u30fc\u30c7\u30a3\u30aa\u95a2\u9023\u306e\u958b\u767a\u7528\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u304c\u63d0\u4f9b\u3055\u308c\u3066\u304a\u308a\u307e\u305b\u3093\u3002\u306a\u306e\u3067\u3001\u6709\u5fd7\u304c\u4f5c\u6210\u3055\u308c\u305fWebRTC\u7d4c\u7531\u3067\u63a5\u7d9a\u53ef\u80fd\u306aSDK\u3092\u4f7f\u7528\u3057\u3066\u5b9f\u88c5\u3092\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E9%96%8B%E7%99%BA%E7%92%B0%E5%A2%83\"><\/span>\u958b\u767a\u74b0\u5883<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u4eca\u56de\u306f\u3001\u516c\u5f0f\u306e\u30a2\u30d7\u30ea\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u901a\u4fe1\u7d4c\u8def\u3092\u7528\u3044\u3066\u3001\u64cd\u4f5c\u3092\u3057\u307e\u3059\u3002<br>\u306a\u306e\u3067\u3001DockingStation\u304c\u4e0d\u8981\u3068\u306a\u308b\u305f\u3081EDU\u4ee5\u5916\u306eAiR\u3084PRO\u7248\u3067\u3082\u958b\u767a\u304c\u53ef\u80fd\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Unitree Go2\u672c\u4f53\uff1aAir\/Pro\/EDU\u3000\u203b \u3059\u3079\u3066\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u53ef\u80fd<\/li>\n\n\n\n<li>\u5916\u90e8PC\uff1aUbuntu 20.0.4 LTE \u203b Windows\u3067\u3082\u53ef\u80fd\u3067\u3059<\/li>\n<\/ul>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99\"><\/span>\u4e8b\u524d\u6e96\u5099<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Unitree Go2\u3092\u516c\u5f0f\u30a2\u30d7\u30ea\u304b\u3089Wi-Fi Mode\u3067\u8a2d\u5b9a\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u672c\u4f53\u4f7f\u7528\u3057\u3066\u3044\u308bIP\u30a2\u30c9\u30ec\u30b9\u3092\u30a2\u30d7\u30ea\u306e\u8a2d\u5b9a\u304b\u3089\u78ba\u8a8d\u3057\u307e\u3059\u3002\uff08Device&gt;Data&gt;Network information\u306eIP:wlan0\uff09<\/li>\n\n\n\n<li>\u5916\u90e8PC\u3092\u540c\u3058Wifi\u306b\u63a5\u7d9a\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u30a2\u30d7\u30ea\u843d\u3068\u3057\u3066\u3001\u672c\u4f53\u3068\u306e\u901a\u4fe1\u3092\u906e\u65ad\u3057\u3066\u304a\u304d\u307e\u3059\u3002\uff08\u672c\u4f53\u306e\u4f7f\u7528\u4e0a\u3001\u540c\u6642\u306b\u901a\u4fe1\u3067\u304d\u308b\u7aef\u672b\u306e\u6570\u304c\uff11\u53f0\u306b\u9650\u3089\u308c\u308b\u305f\u3081\uff09<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"452\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/image-2-1024x452.png\" alt=\"\" class=\"wp-image-391\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/image-2-1024x452.png 1024w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/image-2-300x133.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/image-2-768x339.png 768w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/image-2-1536x679.png 1536w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/image-2-2048x905.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"SDK%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>SDK\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>Python\u74b0\u5883\u3068Git\u306e\u30ec\u30dd\u30b8\u30c8\u30ea\u304b\u3089\u30a2\u30d7\u30ea\u3092\u53d6\u5f97\u3059\u308b\u3060\u3051\u3067\u5229\u7528\u304c\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ncd ~\nsudo apt update\nsudo apt install python3-pip\nsudo apt install portaudio19-dev\ngit clone --recurse-submodules https:\/\/github.com\/legion1581\/go2_webrtc_connect.git\ncd go2_webrtc_connect\npip install -e .\n<\/pre><\/div>\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B9%E3%83%94%E3%83%BC%E3%82%AB%E3%83%BC%E3%81%AE%E4%BD%BF%E7%94%A8\"><\/span>\u30b9\u30d4\u30fc\u30ab\u30fc\u306e\u4f7f\u7528<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u30b5\u30f3\u30d7\u30eb\u3092\u4f7f\u7528\u3057\u3066Go2\u306e\u30b9\u30d4\u30fc\u30ab\u30fc\u304b\u3089\u4efb\u610f\u306e\u30aa\u30fc\u30c7\u30a3\u30aa\u30d5\u30a1\u30a4\u30eb\u3092\u518d\u751f\u3057\u3066\u307f\u307e\u3059\u3002\u30aa\u30fc\u30c7\u30a3\u30aa\u306e\u518d\u751f\u306f\u3001\u4ee5\u4e0b\u306e\uff13\u7a2e\u985e\u306e\u30b5\u30f3\u30d7\u30eb\u304c\u7528\u610f\u3055\u308c\u3066\u304a\u308a\u307e\u3059\u3002play_mp3\u306f\u3001\u52d5\u4f5c\u304c\u4e0d\u5b89\u5b9a\u3067\u3001\u306a\u305c\u304bwebrtc_audio_player.py\u3067\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3092\u3057\u3066\u304a\u304f\u3068\u3061\u3083\u3093\u3068\u52d5\u4f5c\u3059\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002\u4eca\u56de\u306f\u3001webrtc_audio_player\u306e\u65b9\u306e\u52d5\u4f5c\u3092\u3054\u7d39\u4ecb\u3057\u307e\u3059\u3002\uff08go2_webrtc_connect\/examples\/audio\/mp3_player\/webrtc_audio_player.py\uff09<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>play_mp3.py: mp3\u97f3\u6e90\u3092webrtc\u3067\u9001\u4fe1\u3057\u518d\u751f<\/li>\n\n\n\n<li>webrtc_audio_player.py: \u97f3\u6e90\u3092\u672c\u4f53\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u518d\u751f<\/li>\n\n\n\n<li>stream_radio.py: \u30b9\u30c8\u30ea\u30fc\u30e0\u97f3\u6e90\u3092\u672c\u4f53\u3067\u518d\u751f<\/li>\n<\/ul>\n\n\n\n<p>\u30b3\u30fc\u30c9\u306e\u4e2d\u306bIP\u3092\u6307\u5b9a\u3059\u308b\u90e8\u5206\u304c\u3042\u308b\u306e\u3067\u3001\u305d\u3061\u3089\u3092\u4e8b\u524d\u6e96\u5099\u3067\u78ba\u8a8d\u3057\u305fIP\u306b\u66f8\u304d\u63db\u3048\u307e\u3059\u3002<\/p>\n\n\n\n<p>conn = Go2WebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip=&#8221;192.168.11.19&#8243;)<\/p>\n\n\n\n<p>\u30d5\u30a1\u30a4\u30eb\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<br>\uff11\u5ea6\u76ee\u306e\u5b9f\u884c\u3067\u97f3\u58f0\u306e\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u304c\u5b9f\u884c\u3055\u308c\u3001\uff12\u5ea6\u76ee\u306e\u5b9f\u884c\u3067\u97f3\u58f0\u304c\u518d\u751f\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\npython3 webrtc_audio_player.py\n\ud83d\udd52 WebRTC connection        : \ud83d\udfe1 started       (09:00:41)\nDecoder set to: LibVoxelDecoder\n\ud83d\udd52 Signaling State          : \ud83d\udfe1 have-local-offer (09:00:41)\n\ud83d\udd52 ICE Gathering State      : \ud83d\udfe1 gathering     (09:00:41)\n\ud83d\udd52 ICE Gathering State      : \ud83d\udfe2 complete      (09:00:41)\nERROR:root:An error occurred: HTTPConnectionPool(host=&#039;192.168.11.19&#039;, port=8081): Max retries exceeded with url: \/offer (Caused by NewConnectionError(&#039;&amp;lt;urllib3.connection.HTTPConnection object at 0x7fe84a42c730&gt;: Failed to establish a new connection: &#x5B;Errno 111] Connection refused&#039;))\nERROR:root:An error occurred with the old method: Failed to receive SDP Answer: No response\n\ud83d\udd52 ICE Connection State     : \ud83d\udd35 checking      (09:00:42)\n\ud83d\udd52 Peer Connection State    : \ud83d\udd35 connecting    (09:00:42)\n\ud83d\udd52 Signaling State          : \ud83d\udfe2 stable        (09:00:42)\n\ud83d\udd52 ICE Connection State     : \ud83d\udfe2 completed     (09:00:42)\n\ud83d\udd52 Peer Connection State    : \ud83d\udfe2 connected     (09:00:42)\n\ud83d\udd52 Data Channel Verification: \u2705 OK            (09:00:42)\n&#x5B;{&#039;UNIQUE_ID&#039;: &#039;ee9ff303-dfa0-4dc0-a459-54c30edc31c6&#039;, &#039;CUSTOM_NAME&#039;: &#039;dog-barking&#039;, &#039;ADD_TIME&#039;: 1750564220117}, {&#039;UNIQUE_ID&#039;: &#039;ceaa9e31-d1cd-4fbc-b983-2fd9e0589d43&#039;, &#039;CUSTOM_NAME&#039;: &#039;sample&#039;, &#039;ADD_TIME&#039;: 1750563978309}]\nAudio file sample already exists, skipping upload\nStarting audio playback of file: ceaa9e31-d1cd-4fbc-b983-2fd9e0589d43\n\ud83d\udd52 Signaling State          : \u26ab closed        (09:00:42)\n<\/pre><\/div>\n\n\n<p>\u672c\u4f53\u304b\u3089\u72ac\u306e\u9cf4\u304d\u58f0\u304c\u805e\u3053\u3048\u305f\u3089\u6210\u529f\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%9C%AC%E4%BD%93%E3%81%8B%E3%82%89%E3%83%9E%E3%82%A4%E3%82%AF%E5%85%A5%E5%8A%9B%E3%81%AE%E5%8F%96%E5%BE%97\"><\/span>\u672c\u4f53\u304b\u3089\u30de\u30a4\u30af\u5165\u529b\u306e\u53d6\u5f97<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u30b5\u30f3\u30d7\u30eb\u306f\uff12\u7a2e\u985e\u7528\u610f\u304c\u7528\u610f\u3055\u308c\u3066\u304a\u308a\u3001\uff15\u79d2\u9593\u306e\u97f3\u58f0\u5165\u529b\u3092\u4fdd\u5b58\u3059\u308b(save_audio_to_file.py)\u3068\u30e9\u30a4\u30d6\u3067\u30aa\u30fc\u30c7\u30a3\u30aa\u30d5\u30a1\u30a4\u30eb\u3092\u53d6\u5f97\u3059\u308b\uff08live_recv_audio.py\uff09\u304c\u3042\u308a\u307e\u3059\u3002<br>\u4eca\u56de\u306fsave_audio_to_file.py\u306e\u65b9\u3067\u52d5\u4f5c\u3092\u78ba\u8a8d\u3057\u307e\u3057\u305f\u3002\u5148\u7a0b\u3068\u540c\u69d8\u306b\u30b3\u30fc\u30c9\u306eIP\u306e\u90e8\u5206\u3092\u5909\u66f4\u3057\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>python save_audio_to_file.py<\/p>\n\n\n\n<p>\u5b9f\u884c\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001\u30ec\u30dd\u30b8\u30c8\u30ea\u306e\u30eb\u30fc\u30c8\u306b\u300coutput.wav\u300d\u3068\u3044\u3046\u30d5\u30a1\u30a4\u30eb\u304c\u51fa\u529b\u3055\u308c\u307e\u3059\u3002\u3053\u3061\u3089\u304c\u5b9f\u969b\u306e\u97f3\u58f0\u30d5\u30a1\u30a4\u30eb\u3067\u3059\u3002\u672c\u4f53\u306e\u30d5\u30a1\u30f3\u306e\u97f3\u304c\u5927\u304d\u304f\u304b\u306a\u308a\u96d1\u97f3\u304c\u306e\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-audio\"><audio controls src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/output.wav\"><\/audio><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p>Whisper\u3092\u4f7f\u7528\u3057\u3066\u97f3\u58f0\u8a8d\u8b58\u304c\u3067\u304d\u308b\u304b\u3092\u691c\u8a3c\u3057\u307e\u3057\u305f\u3002<br>pip install -U openai-whisper<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: python; title: ; notranslate\" title=\"\">\nimport whisper\n\n# \u30e2\u30c7\u30eb\u3092\u30ed\u30fc\u30c9\nmodel = whisper.load_model(&quot;base&quot;)\n\n# \u8a8d\u8b58\u5b9f\u884c\nresult = model.transcribe(&quot;output.wav&quot;, language=&quot;ja&quot;)\n\n# \u7d50\u679c\u51fa\u529b\nprint(&quot;\ud83d\udde3 \u8a8d\u8b58\u7d50\u679c:&quot;)\nprint(result&#x5B;&quot;text&quot;])\n\n<\/pre><\/div>\n\n\n<p>\u300c\u3053\u3093\u306b\u3061\u306f\u30fc\u3053\u3093\u306b\u3061\u306f\u30fc\u300d\u306e\u97f3\u58f0\u8a8d\u8b58\u3092\u30e2\u30c7\u30eb\u5225\u3067\u8b58\u5225\u3057\u305f\u7d50\u679c\u306b\u306a\u308a\u307e\u3059\u3002\u30ce\u30a4\u30ba\u306b\u5f37\u3044whisper\u3067\u3082base\u30ec\u30d9\u30eb\u3060\u3068\u7c21\u5358\u306a\u8a8d\u8b58\u3067\u3082\u96e3\u3057\u305d\u3046\u3067\u3059\u3002<br>\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u6027\u3092\u6c42\u3081\u308b\u306e\u3067\u3042\u308c\u3070\u3001GPU\u642d\u8f09\u306ePC\u3067medium\u4ee5\u4e0a\u3067\u5b9f\u88c5\u3059\u308b\u306e\u304c\u826f\u3055\u305d\u3046\u3067\u3059\u3002<br>\ud83d\udde3 \u8a8d\u8b58\u7d50\u679c:<br>\u3069\u3046\u3082\u3001\u30c1\u30e5\u30a2\u30fc\u3002\u3069\u3046\u3082\u30c1\u30e5\u30a2\u30fc\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%8A%E3%82%8F%E3%82%8A%E3%81%AB\"><\/span>\u304a\u308f\u308a\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u4e8c\u6b21\u958b\u767a\u304c\u3067\u304d\u306a\u3044\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u3082\u958b\u767a\u304c\u3067\u304d\u308b\u7d20\u6674\u3089\u3057\u3044\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u304c\u3001\u975e\u516c\u5f0f\u3067\u3042\u308b\u305f\u3081\u52d5\u4f5c\u304c\u4e0d\u5b89\u5b9a\u306a\u306e\u304c\u304d\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u5916\u4ed8\u3051\u306e\u30ce\u30a4\u30ba\u30ad\u30e3\u30f3\u30bb\u30ea\u30f3\u30b0\u5bfe\u5fdc\u30b9\u30d4\u30fc\u30ab\u30fc\u30de\u30a4\u30af\u3092\u4f7f\u7528\u3059\u308b\u306e\u304c\u826f\u3055\u305d\u3046\u3067\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"\u306f\u3058\u3081\u306b Unitree Go2\u306b\u6a19\u6e96\u3067\u88c5\u5099\u3055\u308c\u3066\u3044\u308b\u30b9\u30d4\u30fc\u30ab\u30fc\u3068\u30de\u30a4\u30af\u3092\u4f7f\u7528\u3057\u3066\u3001\u958b\u767a\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u3092\u4f5c\u6210\u3057\u3066\u307f\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002\u516c\u5f0f\u3067\u306f\u30012025\u5e74\uff16\u6708\u6642\u70b9\u3067\u306f\u3001\u30aa\u30fc\u30c7\u30a3\u30aa\u95a2\u9023\u306e\u958b\u767a\u7528\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u304c\u63d0\u4f9b\u3055\u308c\u3066\u304a\u308a\u307e\u305b [&hellip;]","protected":false},"author":1,"featured_media":391,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[30,31],"tags":[],"class_list":["post-387","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-30","category-unitreego2-4"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/image-2.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/387","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=387"}],"version-history":[{"count":2,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/387\/revisions"}],"predecessor-version":[{"id":392,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/387\/revisions\/392"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/391"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=387"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=387"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=387"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}