{"created":"2021-03-01T06:18:59.387558+00:00","id":12056,"links":{},"metadata":{"_buckets":{"deposit":"7b9affa3-df5e-47ce-9c2c-32eb99029eec"},"_deposit":{"id":"12056","owners":[],"pid":{"revision_id":0,"type":"depid","value":"12056"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00012056","sets":["320:321:322"]},"author_link":["38232","38233","38234","38235"],"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2009-05-12","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"1570","bibliographicPageStart":"1565","bibliographic_titles":[{"bibliographic_title":"IEEE International Conference on Robotics and Automation (ICRA '09)","bibliographic_titleLang":"en"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a three-dimensional biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC) which is previously proposed. The robot dynamics is modeled as an autonomous system of a three-dimensional 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 constantrdquo, that determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constant converge to arbitrary value, so that walking velocity and direction is controllable. Numerical simulation results validate proposed algorithm.","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/2237/13932"},{"subitem_identifier_type":"DOI","subitem_identifier_uri":"http://dx.doi.org/10.1109/ROBOT.2009.5152455"}]},"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/ROBOT.2009.5152455","subitem_relation_type_select":"DOI"}}]},"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_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1050-4729","subitem_source_identifier_type":"PISSN"}]},"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":"38232","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Sekiyama, Kosuke","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"38233","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Hasegawa, Yasuhisa","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"38234","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Fukuda, Toshio","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"38235","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":"ICRA2009_aoyama.pdf","filesize":[{"value":"2.3 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"ICRA2009_aoyama.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/12056/files/ICRA2009_aoyama.pdf"},"version_id":"8d57e9a2-ac55-41b8-9921-9d86c3a15d47"}]},"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":"PDAC-based underactuated 3D bipedal walking :  Stabilization of PDAC constants and walking direction control","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"PDAC-based underactuated 3D bipedal walking :  Stabilization of PDAC constants and walking direction 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":"12056","relation_version_is_last":true,"title":["PDAC-based underactuated 3D bipedal walking :  Stabilization of PDAC constants and walking direction control"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T03:58:42.572801+00:00"}