{"created":"2021-03-01T06:18:59.324935+00:00","id":12055,"links":{},"metadata":{"_buckets":{"deposit":"b4a853f4-08be-449a-9c0b-737ffc20cfdd"},"_deposit":{"id":"12055","owners":[],"pid":{"revision_id":0,"type":"depid","value":"12055"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00012055","sets":["320:321:322"]},"author_link":["38228","38229","38230","38231"],"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2009-10-10","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"1313","bibliographicPageStart":"1308","bibliographic_titles":[{"bibliographic_title":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)","bibliographic_titleLang":"en"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named ¿PDAC constant¿ was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot ¿Multi-locomotion Robot¿; then the performance and the efficiency of the proposed control algorithm are verified by experiments.","subitem_description_language":"en","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/2237/13931"},{"subitem_identifier_type":"DOI","subitem_identifier_uri":"http://dx.doi.org/10.1109/IROS.2009.5354138"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE","subitem_publisher_language":"en"}]},"item_10_relation_11":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/IROS.2009.5354138","subitem_relation_type_select":"DOI"}}]},"item_10_relation_8":{"attribute_name":"ISBN","attribute_value_mlt":[{"subitem_relation_type":"isPartOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"978-1-4244-3803-7","subitem_relation_type_select":"ISBN"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"©2009 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.","subitem_rights_language":"en"}]},"item_10_select_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"publisher"}]},"item_10_text_14":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_text_value":"application/pdf"}]},"item_1615787544753":{"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_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":"Aoyama, Tadayoshi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"38228","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Sekiyama, Kosuke","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"38229","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Hasegawa, Yasuhisa","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"38230","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Fukuda, Toshio","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"38231","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":"2018-02-20"}],"displaytype":"detail","filename":"IROS2009_aoyama-1.pdf","filesize":[{"value":"693.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"IROS2009_aoyama-1.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/12055/files/IROS2009_aoyama-1.pdf"},"version_id":"d3f08fe4-e09f-41f2-8bcf-cb5a817758b5"}]},"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":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control","subitem_title_language":"en"}]},"item_type_id":"10","owner":"1","path":["322"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2010-08-03"},"publish_date":"2010-08-03","publish_status":"0","recid":"12055","relation_version_is_last":true,"title":["Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T03:58:42.453102+00:00"}