{"created":"2021-03-01T06:26:05.653817+00:00","id":18665,"links":{},"metadata":{"_buckets":{"deposit":"49d21674-341a-423c-b601-651dfb7ab1b7"},"_deposit":{"id":"18665","owners":[],"pid":{"revision_id":0,"type":"depid","value":"18665"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00018665","sets":["320:321:322"]},"author_link":["54327","54328","54329"],"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2013-09","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"33","bibliographicPageStart":"23","bibliographicVolumeNumber":"4","bibliographic_titles":[{"bibliographic_title":"Paladyn, Journal of Behavioral Robotics","bibliographic_titleLang":"en"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"In this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.","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/10.2478/pjbr-2013-0002"},{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/2237/20761"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Walter de Gruyter","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/10.2478/pjbr-2013-0002","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":"2081-4836","subitem_source_identifier_type":"EISSN"}]},"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":"54327","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kagawa, Takahiro","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54328","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Uno, Yoji","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"54329","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","filename":"pjbr-2013-0002.pdf","filesize":[{"value":"1.3 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"pjbr-2013-0002.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/18665/files/pjbr-2013-0002.pdf"},"version_id":"8993a244-c49a-4296-ba30-9ccb2a164cfb"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"humanoid robot","subitem_subject_scheme":"Other"},{"subitem_subject":"motion planning","subitem_subject_scheme":"Other"},{"subitem_subject":"modifying via-point","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":"Efficient Planning of Humanoid Motions by Modifying Constraints","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Efficient Planning of Humanoid Motions by Modifying Constraints","subitem_title_language":"en"}]},"item_type_id":"10","owner":"1","path":["322"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2014-11-11"},"publish_date":"2014-11-11","publish_status":"0","recid":"18665","relation_version_is_last":true,"title":["Efficient Planning of Humanoid Motions by Modifying Constraints"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T04:07:29.378647+00:00"}