WEKO3
アイテム
{"_buckets": {"deposit": "3842a530-19bd-4161-908d-bdc7c66e589d"}, "_deposit": {"created_by": 3, "id": "9318", "owners": [3], "pid": {"revision_id": 0, "type": "depid", "value": "9318"}, "status": "published"}, "_oai": {"id": "oai:sucra.repo.nii.ac.jp:00009318", "sets": ["667"]}, "author_link": ["16533", "16511"], "item_112_biblio_info_8": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2002", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "483", "bibliographicPageStart": "478", "bibliographic_titles": [{"bibliographic_title": "Advanced Motion Control, 2002. 7th International Workshop"}]}]}, "item_112_date_31": {"attribute_name": "作成日", "attribute_value_mlt": [{"subitem_date_issued_datetime": "2008-02-07", "subitem_date_issued_type": "Created"}]}, "item_112_description_19": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "We applied the inverted pendulum mode to the control of a biped robot in order to plan a trajectory in real time. Though the inverted pendulum mode is useful to plan a trajectory, the stability margin of a biped robot is very narrow because of its structural limit. Virtual supporting point (VSP), a new indicator of biped robot control, is suggested with a view to broaden the stability margin of biped robot. Walking parameters could be adjusted by setting VSP without changing other parameters. The mobility of a biped robot is improved compared to the usual method if proper VSP is set. The stable range of VSP is figured out by revealing the relationship between ZMP and VSP. Additionally, biped locomotion could be designed simply and its stability could be determined clearly beforehand by applying VSP. Results of the simulation and the experiment shows the validity of the suggested method.", "subitem_description_type": "Abstract"}]}, "item_112_description_21": {"attribute_name": "注記", "attribute_value_mlt": [{"subitem_description": "(c)2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.", "subitem_description_type": "Other"}]}, "item_112_description_29": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"subitem_description": "text", "subitem_description_type": "Other"}]}, "item_112_publisher_11": {"attribute_name": "出版者名", "attribute_value_mlt": [{"subitem_publisher": "IEEE-Institute of Electrical and Electronics Engineers, Inc"}]}, "item_112_relation_16": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isIdenticalTo", "subitem_relation_type_id": {"subitem_relation_type_id_text": "info:doi/10.1109/AMC.2002.1026967", "subitem_relation_type_select": "DOI"}}]}, "item_112_relation_7": {"attribute_name": "著者 外部リンク", "attribute_value_mlt": [{"subitem_relation_name": [{"subitem_relation_name_text": "http://s-read.saitama-u.ac.jp/researchers/pages/researcher/BKXSsNBx"}], "subitem_relation_type_id": {"subitem_relation_type_id_text": "http://s-read.saitama-u.ac.jp/researchers/pages/researcher/BKXSsNBx", "subitem_relation_type_select": "URI"}}]}, "item_112_text_27": {"attribute_name": "版", "attribute_value_mlt": [{"subitem_text_value": "[出版社版]"}]}, "item_112_text_3": {"attribute_name": "著者 ローマ字", "attribute_value_mlt": [{"subitem_text_value": "TSUJI, Toshiaki"}, {"subitem_text_value": "OHNISHI, Kouhei"}]}, "item_112_text_32": {"attribute_name": "アイテムID", "attribute_value_mlt": [{"subitem_text_value": "A1002440"}]}, "item_112_text_35": {"attribute_name": "公開日(XooNIps)", "attribute_value_mlt": [{"subitem_text_value": "Feb 7, 2008 09:00:00"}]}, "item_112_text_36": {"attribute_name": "最終更新日(XooNIps)", "attribute_value_mlt": [{"subitem_text_value": "Sep 7, 2009 10:18:26"}]}, "item_112_text_37": {"attribute_name": "更新履歴(XooNIps)", "attribute_value_mlt": [{"subitem_text_value": "Sep 7, 2009 著者 を変更"}, {"subitem_text_value": "Mar 18, 2009 "}, {"subitem_text_value": "Aug 12, 2008 "}, {"subitem_text_value": "Feb 27, 2008 インデックス を変更"}, {"subitem_text_value": "Feb 7, 2008 インデックス を変更"}, {"subitem_text_value": "Feb 7, 2008 ID, フリーキーワード, インデックス, 版 を変更"}]}, "item_112_text_38": {"attribute_name": "登録者(XooNIps)", "attribute_value_mlt": [{"subitem_text_value": "sucra_jim4"}]}, "item_112_text_39": {"attribute_name": "閲覧数(XooNIps)", "attribute_value_mlt": [{"subitem_text_value": "1621"}]}, "item_112_text_4": {"attribute_name": "著者 所属", "attribute_value_mlt": [{"subitem_text_value": "慶應義塾大学理工学部システムデザイン工学科"}]}, "item_112_text_40": {"attribute_name": "ダウンロード数(XooNIps)", "attribute_value_mlt": [{"subitem_text_value": "2069"}]}, "item_112_text_41": {"attribute_name": "XooNIps_インデックス", "attribute_value_mlt": [{"subitem_text_value": "sucra_jim4|Public/埼玉大学/理工学研究科|Public/埼玉大学/理工学研究科/数理電子情報部門|Public/主題別/工学/機械工学/知能機械学・機械システム|Public/主題別/工学/電気電子工学/制御工学|Public/ジャンル別/学術雑誌論文(海外)"}]}, "item_112_text_42": {"attribute_name": "XooNIps_ITEM_KEY", "attribute_value_mlt": [{"subitem_text_value": "1768"}]}, "item_112_text_5": {"attribute_name": "著者 所属(別言語)", "attribute_value_mlt": [{"subitem_text_value": "Faculty of Science and Technology, Department of System Design Engineering, Keio University"}]}, "item_112_text_9": {"attribute_name": "年月次", "attribute_value_mlt": [{"subitem_text_value": "2002"}]}, "item_112_version_type_28": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_version_resource": "http://purl.org/coar/version/c_970fb48d4fbd8a85", "subitem_version_type": "VoR"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "辻, 俊明"}, {"creatorName": "ツジ, トシアキ", "creatorNameLang": "ja-Kana"}], "nameIdentifiers": [{"nameIdentifier": "16511", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "BKXSsNBx", "nameIdentifierScheme": "研究者総覧", "nameIdentifierURI": "http://s-read.saitama-u.ac.jp/researchers/pages/researcher/BKXSsNBx"}]}, {"creatorNames": [{"creatorName": "大西, 公平"}, {"creatorName": "オオニシ, コウヘイ", "creatorNameLang": "ja-Kana"}], "nameIdentifiers": [{"nameIdentifier": "16533", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2018-01-22"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "A1002440.pdf", "filesize": [{"value": "528.2 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 528200.0, "url": {"label": "A1002440.pdf", "url": "https://sucra.repo.nii.ac.jp/record/9318/files/A1002440.pdf"}, "version_id": "5864b272-bd94-41ef-af1c-37266f91a582"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "conference paper", "resourceuri": "http://purl.org/coar/resource_type/c_5794"}]}, "item_title": "A Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "A Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point"}]}, "item_type_id": "112", "owner": "3", "path": ["667"], "permalink_uri": "https://sucra.repo.nii.ac.jp/records/9318", "pubdate": {"attribute_name": "公開日", "attribute_value": "2008-02-07"}, "publish_date": "2008-02-07", "publish_status": "0", "recid": "9318", "relation": {}, "relation_version_is_last": true, "title": ["A Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point"], "weko_shared_id": -1}
A Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point
https://sucra.repo.nii.ac.jp/records/9318
https://sucra.repo.nii.ac.jp/records/9318cc46eb2b-bf6c-4ff4-ae7e-f5944979de8e
名前 / ファイル | ライセンス | アクション |
---|---|---|
A1002440.pdf (528.2 kB)
|
|
Item type | 会議発表論文 / Conference Paper(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | A Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
辻, 俊明
× 辻, 俊明× 大西, 公平 |
|||||
著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
OHNISHI, Kouhei | ||||||
著者 所属 | ||||||
慶應義塾大学理工学部システムデザイン工学科 | ||||||
著者 所属(別言語) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
Advanced Motion Control, 2002. 7th International Workshop p. 478-483, 発行日 2002 |
|||||
年月次 | ||||||
2002 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/AMC.2002.1026967 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | We applied the inverted pendulum mode to the control of a biped robot in order to plan a trajectory in real time. Though the inverted pendulum mode is useful to plan a trajectory, the stability margin of a biped robot is very narrow because of its structural limit. Virtual supporting point (VSP), a new indicator of biped robot control, is suggested with a view to broaden the stability margin of biped robot. Walking parameters could be adjusted by setting VSP without changing other parameters. The mobility of a biped robot is improved compared to the usual method if proper VSP is set. The stable range of VSP is figured out by revealing the relationship between ZMP and VSP. Additionally, biped locomotion could be designed simply and its stability could be determined clearly beforehand by applying VSP. Results of the simulation and the experiment shows the validity of the suggested method. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
作成日 | ||||||
日付 | 2008-02-07 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002440 |