{"created":"2021-03-01T05:59:57.955312+00:00","id":7513,"links":{},"metadata":{"_buckets":{"deposit":"f55e676e-36bd-4717-9e1b-3721f754dad6"},"_deposit":{"id":"7513","owners":[],"pid":{"revision_id":0,"type":"depid","value":"7513"},"status":"published"},"_oai":{"id":"oai:kitami-it.repo.nii.ac.jp:00007513","sets":["1:86"]},"author_link":["38492","38493","44814","38491"],"item_1646810750418":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_3_alternative_title_198":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Experimental Study on Stabilization of a Three-Dimensional Biped Passive Walking Robot"}]},"item_3_biblio_info_186":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-11-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"246","bibliographicPageStart":"239","bibliographicVolumeNumber":"32","bibliographic_titles":[{"bibliographic_title":"バイオメカニズム学会誌"}]}]},"item_3_description_184":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"現在,ヒューマノイドのエネルギ効率や環境適応性の改善を目的として,受動歩行の応用が注目されており,その安定化手法についてさまざまな検討が行なわれている.その多くは二次元簡略化モデルを用いたものであり,安定化理論については未だ確立されていないのが現状である.その一方で,現実的な歩行動作は三次元的に発現しており,モデルの簡略化が安定化の検討の妨げになっている可能性がある.本報では,ヒトの歩行解析結果を基に三次元歩行が可能な二足受動歩行ロボットを設計・製作し,その安定化手法について実験的に検討した.その結果,歩行路の斜度が変化しても安定な受動歩行が実現可能であることを示した. : In the analytical study on a biped passive walking robot, the simplified model has an almost round shape sole for the twodimensional motion on the sagittal plane. However, a stabilization theory for biped passive walking has not been established. In addition, three-dimensional motion appears in an actual human gait. This paper examined the stabilization method of a biped passive walking robot with a three-dimensional weight shift. The experimental model was designed by using the results of human gait analysis. As a result, it was demonstrated that the biped passive walking robot could be stabilized on various slope angles.","subitem_description_type":"Abstract"}]},"item_3_description_194":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_3_full_name_183":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"38492","nameIdentifierScheme":"WEKO"}],"names":[{"name":"SUZUKI, Soichiro","nameLang":"en"}]},{"nameIdentifiers":[{"nameIdentifier":"38493","nameIdentifierScheme":"WEKO"}],"names":[{"name":"HACHIYA, Masayasu","nameLang":"en"}]}]},"item_3_publisher_212":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"バイオメカニズム学会"}]},"item_3_relation_191":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"http://doi.org/10.3951/sobim.32.239","subitem_relation_type_select":"DOI"}}]},"item_3_select_195":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"publisher"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"鈴木, 聡一郎","creatorNameLang":"ja"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"蜂谷, 正泰","creatorNameLang":"ja"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-11-22"}],"displaytype":"detail","filename":"kikai_suzukis_p_05.pdf","filesize":[{"value":"18.3 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"kikai_suzukis_p_05.pdf","url":"https://kitami-it.repo.nii.ac.jp/record/7513/files/kikai_suzukis_p_05.pdf"},"version_id":"6a57bdf1-ee2c-420b-80b6-126a92b07996"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"二足受動歩行","subitem_subject_scheme":"Other"},{"subitem_subject":"足部形状","subitem_subject_scheme":"Other"},{"subitem_subject":"運動周期","subitem_subject_scheme":"Other"},{"subitem_subject":"前額面内運動","subitem_subject_scheme":"Other"},{"subitem_subject":"Biped passive walking","subitem_subject_scheme":"Other"},{"subitem_subject":"Foot shape","subitem_subject_scheme":"Other"},{"subitem_subject":"Motion period","subitem_subject_scheme":"Other"},{"subitem_subject":"Frontal plane motion","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"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":"三次元歩行が可能な二足受動歩行ロボットの安定化に関する実験的検討","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"三次元歩行が可能な二足受動歩行ロボットの安定化に関する実験的検討","subitem_title_language":"ja"},{"subitem_title":"Experimental Study on Stabilization of a Three-Dimensional Biped Passive Walking Robot","subitem_title_language":"en"}]},"item_type_id":"3","owner":"1","path":["86"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2011-12-13"},"publish_date":"2011-12-13","publish_status":"0","recid":"7513","relation_version_is_last":true,"title":["三次元歩行が可能な二足受動歩行ロボットの安定化に関する実験的検討"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2022-12-13T02:20:08.456931+00:00"}