{"_buckets": {"deposit": "dd9134ad-f8b5-40fb-bb42-54ba1e1edd77"}, "_deposit": {"id": "10284", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "10284"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00010284"}, "item_10_biblio_info_6": {"attribute_name": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2008-09", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "2945", "bibliographicPageStart": "2940", "bibliographic_titles": [{"bibliographic_title": "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)"}]}]}, "item_10_description_4": {"attribute_name": "\u6284\u9332", "attribute_value_mlt": [{"subitem_description": "The parametric excitation based gait generation method proposed by Asano et al. restores mechanical energy lost by heel-strike collisions. Harata et. al. applied this method to a kneed biped robot which is proper for the parametric excitation, and show that sustainable gait has been generated with only knee torque. A swing-leg of a kneed biped robot has similar mechanism to an acrobot, and many acrobots bends a joint in \ninverse direction like ornithoid walking. This suggests that inverse bending a knee restores more mechanical energy than forward bending like human walking, and hence, inverse bending may be more efficient. In this paper, we propose a parametric excitation based ornithoid gait generation method for a kneed biped robot, and show that it can walk sustainably by numerical simulation. We also show that parametric excitation based inverse bending walking is more efficient than parametric excitation based forward bending walking with respect to performance indices in our model.", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "DOI", "subitem_identifier_uri": "http://dx.doi.org/10.1109/IROS.2008.4650839"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/12104"}]}, "item_10_publisher_32": {"attribute_name": "\u51fa\u7248\u8005", "attribute_value_mlt": [{"subitem_publisher": "IEEE"}]}, "item_10_rights_12": {"attribute_name": "\u6a29\u5229", "attribute_value_mlt": [{"subitem_rights": "Copyright \u00a9 2008 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. p.2940-2945.\nThis material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University\u2019s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org."}]}, "item_10_select_15": {"attribute_name": "\u8457\u8005\u7248\u30d5\u30e9\u30b0", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_text_14": {"attribute_name": "\u30d5\u30a9\u30fc\u30de\u30c3\u30c8", "attribute_value_mlt": [{"subitem_text_value": "application/pdf"}]}, "item_creator": {"attribute_name": "\u8457\u8005", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Harata, Yuji"}], "nameIdentifiers": [{"nameIdentifier": "31183", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Asano, Fumihiko"}], "nameIdentifiers": [{"nameIdentifier": "31184", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Taji, Kouichi"}], "nameIdentifiers": [{"nameIdentifier": "31185", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Uno, Yoji"}], "nameIdentifiers": [{"nameIdentifier": "31186", "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": "2018-02-20"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "IROS08_0570.pdf", "filesize": [{"value": "315.7 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 315700.0, "url": {"label": "IROS08_0570.pdf", "url": "https://nagoya.repo.nii.ac.jp/record/10284/files/IROS08_0570.pdf"}, "version_id": "cabe31f9-40f3-45a5-a049-8ce1dfafbb22"}]}, "item_language": {"attribute_name": "\u8a00\u8a9e", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "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": "Parametric Excitation Based Gait Generation for Ornithoid Walking", "item_titles": {"attribute_name": "\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_title": "Parametric Excitation Based Gait Generation for Ornithoid Walking"}]}, "item_type_id": "10", "owner": "1", "path": ["320/502/503"], "permalink_uri": "http://hdl.handle.net/2237/12104", "pubdate": {"attribute_name": "\u516c\u958b\u65e5", "attribute_name_i18n": "\u516c\u958b\u65e5", "attribute_value": "2009-08-27"}, "publish_date": "2009-08-27", "publish_status": "0", "recid": "10284", "relation": {}, "relation_version_is_last": true, "title": ["Parametric Excitation Based Gait Generation for Ornithoid Walking"], "weko_shared_id": null}