{"_buckets": {"deposit": "c5a82be3-c9c2-4e3b-8cdc-798676f5dcfc"}, "_deposit": {"id": "7584", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "7584"}, "status": "published"}, "_oai": {"id": "oai:kitami-it.repo.nii.ac.jp:00007584", "sets": ["86"]}, "author_link": ["38745", "38746", "38747", "38748", "38749", "44814", "38741", "38742", "38743", "38744"], "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": "Stability Control of a Biped Passive Walker by Periodic Input Based on the Frequency Entrainment"}]}, "item_3_biblio_info_186": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2010-11", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "771", "bibliographicPageEnd": "3065", "bibliographicPageStart": "3058", "bibliographicVolumeNumber": "76", "bibliographic_titles": [{"bibliographic_title": "日本機械学会論文集 C編"}]}]}, "item_3_description_184": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "It is difficult to stabilize the three dimensional biped passive walker in various environments because the range of the initial conditions for stable walk is narrow. In this study, a three dimensional biped passive walker was newly designed as a passive walk platform in order to make the success rate of the passive walk high. A new control method that would be able to stabilize the passive walker by using a mechanical oscillator was examined. The target path of the oscillator was generated by utilizing the frequency entrainment in order to synchronize the oscillator movement with the changing motion of the stance leg in the frontal plane. Stability of this passive walker was analytically examined by limit cycle of the frontal movement. A period of the changing motion of the stance leg was synchronized with the period of the swing leg by periodic input generated by the mechanical oscillator. It was demonstrated that the passive walker was stabilized when a frontal motion period was synchronized with a swing leg period in various slope angles. Consequently, it was experimentally examined that the passive walker could be stabilized on various slopes and flat floor.", "subitem_description_type": "Abstract"}]}, "item_3_full_name_183": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "38745", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "SUZUKI, Soichiro", "nameLang": "en"}]}, {"nameIdentifiers": [{"nameIdentifier": "38746", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "HACHIYA, Masayasu", "nameLang": "en"}]}, {"nameIdentifiers": [{"nameIdentifier": "38747", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "SHIMIZU, Kenji", "nameLang": "en"}]}, {"nameIdentifiers": [{"nameIdentifier": "38748", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "IWAKURA, Yuta", "nameLang": "en"}]}, {"nameIdentifiers": [{"nameIdentifier": "38749", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "TAKADA, Masamichi", "nameLang": "en"}]}]}, "item_3_publisher_212": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "一般社団法人日本機械学会"}]}, "item_3_rights_192": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "c2009 日本機械学会"}]}, "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": "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 "}]}, {"creatorNames": [{"creatorName": "蜂谷, 正泰", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "38741", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "清水, 健二", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "38742", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "岩倉, 祐太", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "38743", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "高田, 将充", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "38744", "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": "2016-11-22"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "No27.pdf", "filesize": [{"value": "1.2 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 1200000.0, "url": {"label": "No27.pdf", "url": "https://kitami-it.repo.nii.ac.jp/record/7584/files/No27.pdf"}, "version_id": "f4807756-ce65-4549-98ef-f1c271205980"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Motion Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Controller", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Biped Passive Walk", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Frequency Entrainment", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Oscillator", "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": "引き込みを利用した周期入力による二足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": "引き込みを利用した周期入力による二足受動歩行ロボットの安定化制御", "subitem_title_language": "ja"}, {"subitem_title": "Stability Control of a Biped Passive Walker by Periodic Input Based on the Frequency Entrainment", "subitem_title_language": "en"}]}, "item_type_id": "3", "owner": "1", "path": ["86"], "permalink_uri": "https://kitami-it.repo.nii.ac.jp/records/7584", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2014-02-25"}, "publish_date": "2014-02-25", "publish_status": "0", "recid": "7584", "relation": {}, "relation_version_is_last": true, "title": ["引き込みを利用した周期入力による二足受動歩行ロボットの安定化制御"], "weko_shared_id": -1}