{"created":"2023-05-15T15:22:46.795090+00:00","id":9315,"links":{},"metadata":{"_buckets":{"deposit":"76de5702-6b80-45f7-80de-aa0c4c8c0a6d"},"_deposit":{"created_by":3,"id":"9315","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"9315"},"status":"published"},"_oai":{"id":"oai:sucra.repo.nii.ac.jp:00009315","sets":["94:667"]},"author_link":["16525","16511","16527","16524","16526"],"item_112_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"8-10","bibliographicPageEnd":"95","bibliographicPageStart":"90","bibliographicVolumeNumber":"1","bibliographic_titles":[{"bibliographic_title":"IEEE International Conference on Industrial Technology, ICIT ’04-Tunisia"}]}]},"item_112_date_31":{"attribute_name":"作成日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2008-02-06","subitem_date_issued_type":"Created"}]},"item_112_description_19":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper describes the pushing motion of a humanoid robot. It is difficult to achieve a pushing motion at constant velocity of an object since the body velocity fluctuates during the dynamic walking. Furthermore, the analysis of walking stability becomes complicated with the pushing force. We constructed a humanoid control system that is separated to an upper body controller and a lower body controller. The upper body concentrates on the force control with a constant command. The lower body deals with the biped locomotion and is controlled so that the object is within range of the arm movement. This combination of two separated controllers solves the in the pushing motion of humanoid robots. Simulation results show that the pushing motion with constant velocity of the object was achieved.","subitem_description_type":"Abstract"}]},"item_112_description_21":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"ICIT’04-Tunisia Best Presentation Award受賞　\n(c)2004 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_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/ICIT.2004.1490263","subitem_relation_type_select":"DOI"}}]},"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":"IKEBE, Motomi"},{"subitem_text_value":"TSUJI, Toshiaki"},{"subitem_text_value":"SATO, Yoshiharu"},{"subitem_text_value":"TSUJI, Koichiro"},{"subitem_text_value":"OHNISHI, Kouhei"}]},"item_112_text_32":{"attribute_name":"アイテムID","attribute_value_mlt":[{"subitem_text_value":"A1002436"}]},"item_112_text_4":{"attribute_name":"著者 所属","attribute_value_mlt":[{"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_112_text_5":{"attribute_name":"著者 所属(別言語)","attribute_value_mlt":[{"subitem_text_value":"&EMPTY&"},{"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":"2004-12"}]},"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":"池邉, 心美"},{"creatorName":"イケベ, モトミ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"辻, 俊明"},{"creatorName":"ツジ, トシアキ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"SATO, Yoshiharu"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"TSUJI, Koichiro"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大西, 公平"},{"creatorName":"オオニシ, コウヘイ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]}]},"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","filename":"A1002436.pdf","filesize":[{"value":"1.0 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A1002436.pdf","url":"https://sucra.repo.nii.ac.jp/record/9315/files/A1002436.pdf"},"version_id":"2766d88e-069f-4b6b-b978-40334a83b14a"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Pushing motion","subitem_subject_scheme":"Other"},{"subitem_subject":"humanoid robot","subitem_subject_scheme":"Other"},{"subitem_subject":"dynamic stability","subitem_subject_scheme":"Other"},{"subitem_subject":"walking pattern generator","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":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Pushing Motion of Humanoid Robot on Dynamic Locomotion","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Pushing Motion of Humanoid Robot on Dynamic Locomotion"}]},"item_type_id":"112","owner":"3","path":["667"],"pubdate":{"attribute_name":"公開日","attribute_value":"2008-02-06"},"publish_date":"2008-02-06","publish_status":"0","recid":"9315","relation_version_is_last":true,"title":["Pushing Motion of Humanoid Robot on Dynamic Locomotion"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-05-15T19:10:39.995620+00:00"}