{"created":"2023-05-15T15:25:28.511217+00:00","id":13122,"links":{},"metadata":{"_buckets":{"deposit":"63997912-5c0b-4b65-9081-d7236264ca0d"},"_deposit":{"created_by":3,"id":"13122","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"13122"},"status":"published"},"_oai":{"id":"oai:sucra.repo.nii.ac.jp:00013122","sets":["94:426"]},"author_link":["21043","21042","16511"],"item_119_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2007","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicPageEnd":"1641","bibliographicPageStart":"1632","bibliographicVolumeNumber":"54","bibliographic_titles":[{"bibliographic_title":"IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS"}]}]},"item_119_date_31":{"attribute_name":"作成日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2008-02-07","subitem_date_issued_type":"Created"}]},"item_119_description_19":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper describes a collision avoidance method for a biped robot with an upper body. We propose a method wherein the robot stops in front of an obstacle by generating arm force. When the robot detects the obstacle by the arm tip, it should stop short of the obstacle to avoid crash. Hence, we propose trajectory planning in consideration of the pushing force of the arm. The arm force is controlled to be generated as a function of the distance from the robot body to the obstacle. The closer the robot approaches the obstacle, the larger the arm force becomes. As a result, the robot can stop by utilizing the arm force. In case the obstacle is unmovable, the robot can stop by exerting arm force. If it is movable, the robot can continue walking by pushing it. In this paper, the linear inverted pendulum mode (LIPM) and the idea of orbital energy are introduced, and then, we extend LIPM and orbital energy in consideration of the dynamics of the arm force. The extended orbital energy is utilized to discriminate whether the robot can stop or not and to modify the trajectory of the robot to avoid collision.","subitem_description_type":"Abstract"}]},"item_119_description_21":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"(c)2007 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_119_description_29":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"text","subitem_description_type":"Other"}]},"item_119_description_30":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_119_publisher_11":{"attribute_name":"出版者名","attribute_value_mlt":[{"subitem_publisher":"IEEE-Institute of Electrical and Electronics Engineers, Inc"}]},"item_119_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/TIE.2007.894728","subitem_relation_type_select":"DOI"}}]},"item_119_source_id_14":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02780046","subitem_source_identifier_type":"ISSN"}]},"item_119_text_27":{"attribute_name":"版","attribute_value_mlt":[{"subitem_text_value":"[出版社版]"}]},"item_119_text_3":{"attribute_name":"著者 ローマ字","attribute_value_mlt":[{"subitem_text_value":"Ohashi, Eijiro"},{"subitem_text_value":"Takahiro, Aiko"},{"subitem_text_value":"TSUJI, Toshiaki"}]},"item_119_text_32":{"attribute_name":"アイテムID","attribute_value_mlt":[{"subitem_text_value":"A1002439"}]},"item_119_text_4":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"&EMPTY&"},{"subitem_text_value":"&EMPTY&"},{"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_119_text_5":{"attribute_name":"著者 所属(別言語)","attribute_value_mlt":[{"subitem_text_value":"&EMPTY&"},{"subitem_text_value":"&EMPTY&"},{"subitem_text_value":"Faculty of Science and Technology, Department of System Design Engineering, Keio University"}]},"item_119_text_9":{"attribute_name":"年月次","attribute_value_mlt":[{"subitem_text_value":"2007-6"}]},"item_119_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":"大橋, 栄二郎"},{"creatorName":"オオハシ, エイジロウ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"21042","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Takahiro, Aiko"}],"nameIdentifiers":[{"nameIdentifier":"21043","nameIdentifierScheme":"WEKO"}]},{"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"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-01-24"}],"displaytype":"detail","filename":"A1002439.pdf","filesize":[{"value":"1.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A1002439.pdf","url":"https://sucra.repo.nii.ac.jp/record/13122/files/A1002439.pdf"},"version_id":"5fd7e072-7824-4dcc-afa1-f20f6bb59e7f"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Arm force","subitem_subject_scheme":"Other"},{"subitem_subject":"biped robot","subitem_subject_scheme":"Other"},{"subitem_subject":"collision avoidance","subitem_subject_scheme":"Other"},{"subitem_subject":"humanoid robot","subitem_subject_scheme":"Other"},{"subitem_subject":"pushing motion","subitem_subject_scheme":"Other"},{"subitem_subject":"trajectory planning","subitem_subject_scheme":"Other"},{"subitem_subject":"walking robot","subitem_subject_scheme":"Other"}]},"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":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Collision Avoidance Method of Humanoid Robot With Arm Force","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Collision Avoidance Method of Humanoid Robot With Arm Force"}]},"item_type_id":"119","owner":"3","path":["426"],"pubdate":{"attribute_name":"公開日","attribute_value":"2008-02-07"},"publish_date":"2008-02-07","publish_status":"0","recid":"13122","relation_version_is_last":true,"title":["Collision Avoidance Method of Humanoid Robot With Arm Force"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-05-15T19:25:59.156839+00:00"}