{"_buckets": {"deposit": "c659d81c-1b2e-4373-980e-2967b8670e86"}, "_deposit": {"id": "18663", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "18663"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00018663", "sets": ["322"]}, "author_link": ["54323", "54324", "54325"], "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2013-07", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "300", "bibliographicPageStart": "300", "bibliographicVolumeNumber": "10", "bibliographic_titles": [{"bibliographic_title": "International Journal of Advanced Robotic Systems", "bibliographic_titleLang": "en"}]}]}, "item_10_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task. In this research, we propose a motion planning method corresponding to various conditions for achieving the task. We specify some via-points to deal with the conditions for target achievement depending on various constraints. Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method. Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a humanoid robot HOAP-3. We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball. These results show that the proposed motion planning method using via-point representation can increase articulation of the motion.", "subitem_description_language": "en", "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/10.5772/56747"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/20760"}]}, "item_10_publisher_32": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "INTECH", "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/10.5772/56747", "subitem_relation_type_select": "DOI"}}]}, "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": "1729-8806", "subitem_source_identifier_type": "PISSN"}]}, "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": "Sung, ChangHyun", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54323", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Kagawa, Takahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54324", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Uno, Yoji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54325", "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": "2018-02-21"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "45522.pdf", "filesize": [{"value": "1.5 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 1500000.0, "url": {"label": "45522.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/18663/files/45522.pdf"}, "version_id": "13100488-886e-4f53-8b6a-f5934cac1ca5"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Decentralized Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "High-Order Neural Networks", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Extended Kalman Filter", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Backstepping", "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": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points", "subitem_title_language": "en"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/20760", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2014-11-11"}, "publish_date": "2014-11-11", "publish_status": "0", "recid": "18663", "relation": {}, "relation_version_is_last": true, "title": ["Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points"], "weko_shared_id": -1}