{"created":"2023-06-20T14:40:49.390071+00:00","id":7774,"links":{},"metadata":{"_buckets":{"deposit":"8fda1a3e-bc84-4059-ba09-9c25ad9d836c"},"_deposit":{"created_by":1,"id":"7774","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7774"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007774","sets":["1543:1544:1561","1887:1891"]},"author_link":["41834","41831","41830","41829","41833","41832"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"多脚歩行ロボットの動力学解析"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2003-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"72","bibliographicPageStart":"67","bibliographic_titles":[{"bibliographic_title":"平成14年度アストロダイナミクスシンポジウム:講演後刷り集"},{"bibliographic_title":"ISAS Proceedings of 12th Workshop on Astrodynamics and Flight Mechanics 2002: A Collection of Technical Papers","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本論文は、まず多脚歩行ロボットの直線歩行運動に対する安定解析を行う。そして、その動特性に基づいて旋回歩行制御則を提案する。この提案する制御則の有効性を数値シミュレーションにより検証する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"In this paper, first, stability of locomotion of the multi-legged locomotion robot along line is analyzed, and then, based on the dynamic characteristics, a turning strategy is proposed. The effectiveness of the turning strategy is verified by the numerical simulations.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0045497012","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙科学研究所"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"The Institute of Space and Astronautical Science (ISAS)"}]},"item_5_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0918-8053","subitem_source_identifier_type":"ISSN"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"京都大学 大学院工学研究科"},{"subitem_text_value":"京都大学 大学院工学研究科"},{"subitem_text_value":"京都大学 大学院工学研究科"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Kyoto University Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Kyoto University Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Kyoto University Graduate School of Engineering"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"土屋, 和雄"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"青井, 伸也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"辻田, 勝吉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tsuchiya, Kazuo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Aoi, Shinya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tsujita, Katsuyoshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボットダイナミクス","subitem_subject_scheme":"Other"},{"subitem_subject":"3次元モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"多脚歩行ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"マニューバ性能","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"エンドエフェクター","subitem_subject_scheme":"Other"},{"subitem_subject":"数値解析","subitem_subject_scheme":"Other"},{"subitem_subject":"数値シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"数学モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"計画軌跡","subitem_subject_scheme":"Other"},{"subitem_subject":"robot dynamics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"three dimensional model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"multi-legged locomotion robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"maneuverability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"end effector","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"numerical analysis","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"numerical simulation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"mathematical model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"nominal trajectory","subitem_subject_language":"en","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":"Dynamics of a multi-legged locomotion robot","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Dynamics of a multi-legged locomotion robot","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1561","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7774","relation_version_is_last":true,"title":["Dynamics of a multi-legged locomotion robot"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:34:16.879707+00:00"}