{"_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"}, "item_3_alternative_title_198": {"attribute_name": "\u305d\u306e\u4ed6\u306e\u30bf\u30a4\u30c8\u30eb", "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": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2010-11", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "771", "bibliographicPageEnd": "3065", "bibliographicPageStart": "3058", "bibliographicVolumeNumber": "76", "bibliographic_titles": [{"bibliographic_title": "\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6 C\u7de8"}]}]}, "item_3_description_184": {"attribute_name": "\u6284\u9332", "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": "\u8457\u8005\u5225\u540d", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "38745", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "SUZUKI, Soichiro"}]}, {"nameIdentifiers": [{"nameIdentifier": "38746", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "HACHIYA, Masayasu"}]}, {"nameIdentifiers": [{"nameIdentifier": "38747", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "SHIMIZU, Kenji"}]}, {"nameIdentifiers": [{"nameIdentifier": "38748", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "IWAKURA, Yuta"}]}, {"nameIdentifiers": [{"nameIdentifier": "38749", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "TAKADA, Masamichi"}]}]}, "item_3_publisher_212": {"attribute_name": "\u51fa\u7248\u8005", "attribute_value_mlt": [{"subitem_publisher": "\u4e00\u822c\u793e\u56e3\u6cd5\u4eba\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a"}]}, "item_3_rights_192": {"attribute_name": "\u6a29\u5229", "attribute_value_mlt": [{"subitem_rights": "c2009 \u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a"}]}, "item_3_select_195": {"attribute_name": "\u8457\u8005\u7248\u30d5\u30e9\u30b0", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_creator": {"attribute_name": "\u8457\u8005", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "\u9234\u6728, \u8061\u4e00\u90ce"}], "nameIdentifiers": [{"nameIdentifier": "44814", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "1000030250541 ", "nameIdentifierScheme": "NRID", "nameIdentifierURI": "http://rns.nii.ac.jp/d/nr/1000030250541 "}]}, {"creatorNames": [{"creatorName": "\u8702\u8c37, \u6b63\u6cf0"}], "nameIdentifiers": [{"nameIdentifier": "38741", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "\u6e05\u6c34, \u5065\u4e8c"}], "nameIdentifiers": [{"nameIdentifier": "38742", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "\u5ca9\u5009, \u7950\u592a"}], "nameIdentifiers": [{"nameIdentifier": "38743", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "\u9ad8\u7530, \u5c06\u5145"}], "nameIdentifiers": [{"nameIdentifier": "38744", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "\u30d5\u30a1\u30a4\u30eb\u60c5\u5831", "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_free", "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": "\u30ad\u30fc\u30ef\u30fc\u30c9", "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": "\u8a00\u8a9e", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "item_resource_type": {"attribute_name": "\u8cc7\u6e90\u30bf\u30a4\u30d7", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "\u5f15\u304d\u8fbc\u307f\u3092\u5229\u7528\u3057\u305f\u5468\u671f\u5165\u529b\u306b\u3088\u308b\u4e8c\u8db3\u53d7\u52d5\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u5b89\u5b9a\u5316\u5236\u5fa1", "item_titles": {"attribute_name": "\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_title": "\u5f15\u304d\u8fbc\u307f\u3092\u5229\u7528\u3057\u305f\u5468\u671f\u5165\u529b\u306b\u3088\u308b\u4e8c\u8db3\u53d7\u52d5\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u5b89\u5b9a\u5316\u5236\u5fa1"}]}, "item_type_id": "3", "owner": "1", "path": ["1"], "permalink_uri": "https://kitami-it.repo.nii.ac.jp/records/7584", "pubdate": {"attribute_name": "\u516c\u958b\u65e5", "attribute_value": "2014-02-25"}, "publish_date": "2014-02-25", "publish_status": "0", "recid": "7584", "relation": {}, "relation_version_is_last": true, "title": ["\u5f15\u304d\u8fbc\u307f\u3092\u5229\u7528\u3057\u305f\u5468\u671f\u5165\u529b\u306b\u3088\u308b\u4e8c\u8db3\u53d7\u52d5\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u5b89\u5b9a\u5316\u5236\u5fa1"], "weko_shared_id": 3}