{"created":"2021-03-01T06:30:49.421428+00:00","id":23007,"links":{},"metadata":{"_buckets":{"deposit":"9c898659-8fc3-4a4f-a42f-f6ed3642cb00"},"_deposit":{"id":"23007","owners":[],"pid":{"revision_id":0,"type":"depid","value":"23007"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00023007","sets":["320:321:322"]},"author_link":["67978","67979"],"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2016-07-29","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"20","bibliographicPageEnd":"1364","bibliographicPageStart":"1354","bibliographicVolumeNumber":"30","bibliographic_titles":[{"bibliographic_title":"Advanced Robotics","bibliographic_titleLang":"en"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a novel walk control method for multi-legged robots which have segmented bodies like a millipede. The segment of the robot which is addressed in this paper has a pair of legs which has 3 degrees of freedom (DoF) and 2-DoF active joint which connects the adjacent segmented body. The legs are controlled based on a decentralised control method, follow-the-contact point gait control, in which the legs contact on the contact-points where the forward legs have done. The joints between segments are controlled so as to make the bodies follow a desired trajectory. The legs and the intersegment joints are controlled with integrative and consistent manner thanks to local coordinate systems defined on each contact point. Finally, the proposed control method is verified via a robot simulator with physics engine.","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/10.1080/01691864.2016.1213659"},{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/2237/25191"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Taylor & Francis","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/10.1080/01691864.2016.1213659","subitem_relation_type_select":"DOI"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 29/07/2016, available online: http://www.tandfonline.com/10.1080/01691864.2016.1213659.","subitem_rights_language":"en"}]},"item_10_select_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"author"}]},"item_10_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0169-1864","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_ab4af688f83e57aa","subitem_version_type":"AM"}]},"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":"Takahashi, Ryo","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"67978","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Inagaki, Shinkichi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"67979","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":"2017-07-29"}],"displaytype":"detail","filename":"AdvancedRobotics_CentipedeRobot_w_2D_int_joints_2.pdf","filesize":[{"value":"6.8 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AdvancedRobotics_CentipedeRobot_w_2D_int_joints_2.pdf ファイル公開：2017/07/29","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/23007/files/AdvancedRobotics_CentipedeRobot_w_2D_int_joints_2.pdf"},"version_id":"387c45f2-cd78-4595-aea7-5b4581db31ce"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Segmented multi-legged robot","subitem_subject_scheme":"Other"},{"subitem_subject":"decentralised control","subitem_subject_scheme":"Other"},{"subitem_subject":"FCP gait control","subitem_subject_scheme":"Other"},{"subitem_subject":"active intersegment joint","subitem_subject_scheme":"Other"},{"subitem_subject":"contact-point coordinate system","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":"Walk control of segmented multi-legged robot based on integrative control of legs and 2-DoF active intersegment joints","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Walk control of segmented multi-legged robot based on integrative control of legs and 2-DoF active intersegment joints","subitem_title_language":"en"}]},"item_type_id":"10","owner":"1","path":["322"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2016-12-14"},"publish_date":"2016-12-14","publish_status":"0","recid":"23007","relation_version_is_last":true,"title":["Walk control of segmented multi-legged robot based on integrative control of legs and 2-DoF active intersegment joints"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T04:12:38.227926+00:00"}