{"_buckets": {"deposit": "e1b9c2af-2ca5-4598-8c12-9f459992f6a8"}, "_deposit": {"id": "7514", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "7514"}, "status": "published"}, "_oai": {"id": "oai:kitami-it.repo.nii.ac.jp:00007514", "sets": ["86"]}, "author_link": ["38496", "38497", "38494", "44814"], "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": "Stabilization of a Biped Quasi Passive Walking Robot via Periodic Input"}]}, "item_3_biblio_info_186": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2009-02-01", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "1", "bibliographicPageEnd": "63", "bibliographicPageStart": "57", "bibliographicVolumeNumber": "33", "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": "近年,実用化が進められているヒューマノイドの多くはフィードバック閉回路により制御されている.このような制御手法は軌道計画が複雑なうえ,エネルギ効率や任意環境への適応性等に多くの問題を抱えている.これらの問題の解決策として受動歩行が注目されているが,その歩行の安定化理論は未だ明らかにされていない.本研究では,ヒトの歩行解析結果を基にヒトと同様に三次元的な体重移動が可能な足部を有する受動歩行ロボットを実際に設計・製作し,実験的に歩行の安定化条件を検討した.さらに,歩行路性状が変化する任意の環境下においても常に安定した歩容を獲得するため,強制引き込み現象を利用した準受動歩行ロボットをモデル化し,その制御手法について解析的に検討した. : This study aims to apply passive walking to the biped robot. We examined the stabilization method of a passive walking robot with three dimensional weight shifts in a frontal and a sagittal plane to resemble a human gait. As a result, it was demonstrated that the passive walking was stabilized when both the robotic motions in a frontal plane and in a sagittal plane were synchronized. Then we analytically examined the control method of the quasi-passive walk in an arbitrary environment utilizing the van der Pol equation. Finally, it was determined that the biped quasi-passive walking robot was able to be controlled by periodic input generated by an oscillator.", "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": "38496", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "HACHIYA, Masayasu", "nameLang": "en"}]}, {"nameIdentifiers": [{"nameIdentifier": "38497", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "SUZUKI, Soichiro", "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_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": "蜂谷, 正泰", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "38494", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "鈴木, 聡一郎", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "44814", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "30250541", "nameIdentifierScheme": "KAKEN", "nameIdentifierURI": "https://nrid.nii.ac.jp/ja/nrid/1000030250541 "}]}]}, "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", "download_preview_message": "", "file_order": 0, "filename": "kikai_suzukis_p_06.pdf", "filesize": [{"value": "15.8 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 15800000.0, "url": {"label": "kikai_suzukis_p_06.pdf", "url": "https://kitami-it.repo.nii.ac.jp/record/7514/files/kikai_suzukis_p_06.pdf"}, "version_id": "fcdfbacf-3982-456a-b170-3fc7c0ac8edc"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "二足準受動歩行", "subitem_subject_scheme": "Other"}, {"subitem_subject": "安定化", "subitem_subject_scheme": "Other"}, {"subitem_subject": "周期入力", "subitem_subject_scheme": "Other"}, {"subitem_subject": "引き込み現象", "subitem_subject_scheme": "Other"}, {"subitem_subject": "van der Pol 方程式", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Biped quasi passive walk", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Stabilization", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Periodic input", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Entrainment", "subitem_subject_scheme": "Other"}, {"subitem_subject": "van der Pol\u0027s equation", "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": "周期入力による二足準受動歩行ロボットの安定化制御", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "周期入力による二足準受動歩行ロボットの安定化制御", "subitem_title_language": "ja"}, {"subitem_title": "Stabilization of a Biped Quasi Passive Walking Robot via Periodic Input", "subitem_title_language": "en"}]}, "item_type_id": "3", "owner": "1", "path": ["86"], "permalink_uri": "https://kitami-it.repo.nii.ac.jp/records/7514", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2011-12-13"}, "publish_date": "2011-12-13", "publish_status": "0", "recid": "7514", "relation": {}, "relation_version_is_last": true, "title": ["周期入力による二足準受動歩行ロボットの安定化制御"], "weko_shared_id": -1}