{"_buckets": {"deposit": "b25fcf5e-299c-4cbb-9f0d-42d5626f6315"}, "_deposit": {"id": "12054", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "12054"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00012054"}, "item_10_biblio_info_6": {"attribute_name": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2009-12", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "6", "bibliographicPageEnd": "718", "bibliographicPageStart": "712", "bibliographicVolumeNumber": "14", "bibliographic_titles": [{"bibliographic_title": "IEEE/ASME Transactions on Mechatronics"}]}]}, "item_10_description_4": {"attribute_name": "\u6284\u9332", "attribute_value_mlt": [{"subitem_description": "This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named ldquoPDAC constant,rdquo which determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constants converge to arbitrary values, so that walking velocity and direction are controllable. Finally, experimental results validate the performance and the energy efficiency of the proposed algorithm.", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/13930"}, {"subitem_identifier_type": "DOI", "subitem_identifier_uri": "http://dx.doi.org/10.1109/TMECH.2009.2032777"}]}, "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": "\u00a92009 IEEE. 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 to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."}]}, "item_10_select_15": {"attribute_name": "\u8457\u8005\u7248\u30d5\u30e9\u30b0", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_source_id_7": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "1083-4435", "subitem_source_identifier_type": "ISSN"}]}, "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": "Aoyama, Tadayoshi"}], "nameIdentifiers": [{"nameIdentifier": "38224", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Hasegawa, Yasuhisa"}], "nameIdentifiers": [{"nameIdentifier": "38225", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Sekiyama, Kosuke"}], "nameIdentifiers": [{"nameIdentifier": "38226", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Fukuda, Toshio"}], "nameIdentifiers": [{"nameIdentifier": "38227", "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": "TMech2009_aoyama-1.pdf", "filesize": [{"value": "1.1 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 1100000.0, "url": {"label": "TMech2009_aoyama-1.pdf", "url": "https://nagoya.repo.nii.ac.jp/record/12054/files/TMech2009_aoyama-1.pdf"}, "version_id": "86429563-2c2f-4d9c-9dbc-0168ffeeda07"}]}, "item_keyword": {"attribute_name": "\u30ad\u30fc\u30ef\u30fc\u30c9", "attribute_value_mlt": [{"subitem_subject": "Biped walking", "subitem_subject_scheme": "Other"}, {"subitem_subject": "legged robots", "subitem_subject_scheme": "Other"}, {"subitem_subject": "underactuate", "subitem_subject_scheme": "Other"}]}, "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": "Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC", "item_titles": {"attribute_name": "\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_title": "Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC"}]}, "item_type_id": "10", "owner": "1", "path": ["320/321/322"], "permalink_uri": "http://hdl.handle.net/2237/13930", "pubdate": {"attribute_name": "\u516c\u958b\u65e5", "attribute_value": "2010-08-03"}, "publish_date": "2010-08-03", "publish_status": "0", "recid": "12054", "relation": {}, "relation_version_is_last": true, "title": ["Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC"], "weko_shared_id": null}