{"_buckets": {"deposit": "ee5bafdc-19b4-47e3-a30d-324ef88f4da9"}, "_deposit": {"id": "21477", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "21477"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00021477"}, "item_10_alternative_title_19": {"attribute_name": "\u305d\u306e\u4ed6\u306e\u8a00\u8a9e\u306e\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_alternative_title": "Prevention of backward falling while walking on a step by a walking-assist robot"}]}, "item_10_biblio_info_6": {"attribute_name": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2011-02-28", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "460", "bibliographicPageEnd": "118", "bibliographicPageStart": "113", "bibliographicVolumeNumber": "110", "bibliographic_titles": [{"bibliographic_title": "\u96fb\u5b50\u60c5\u5831\u901a\u4fe1\u5b66\u4f1a\u6280\u8853\u7814\u7a76\u5831\u544a. 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It is likely to fall backward when the landing position after stepping on a bump is on the edge of the bump. To prevent a backward falling that is attributed to the landing position, we propose a method of detecting foot placement state on a bump from the center of pressure (COP) of the swing leg at foot landing. Moreover, the stability of the backward balance is evaluated from the center of mass position and its velocity at a toe-off period. Thus the risk of a backward falling is decreased by trajectory generation with a constrained condition concerning the center of mass at a toe-off period. We confirmed the effectiveness of the proposed method through implementing our method into the robot and conducting walking experiments for two kinds of steps with different height.", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "URI", "subitem_identifier_uri": "http://ci.nii.ac.jp/naid/110008689294/"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/23624"}]}, "item_10_publisher_32": {"attribute_name": "\u51fa\u7248\u8005", "attribute_value_mlt": [{"subitem_publisher": "\u4e00\u822c\u793e\u56e3\u6cd5\u4eba\u96fb\u5b50\u60c5\u5831\u901a\u4fe1\u5b66\u4f1a"}]}, "item_10_rights_12": {"attribute_name": "\u6a29\u5229", "attribute_value_mlt": [{"subitem_rights": "(c)\u4e00\u822c\u793e\u56e3\u6cd5\u4eba\u96fb\u5b50\u60c5\u5831\u901a\u4fe1\u5b66\u4f1a 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