{"_buckets": {"deposit": "3b1de00c-5f22-49e4-9f79-516fb9e59cad"}, "_deposit": {"id": "29341", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "29341"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00029341"}, "item_10_biblio_info_6": {"attribute_name": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2019-11", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "6", "bibliographicPageEnd": "2597", "bibliographicPageStart": "2589", "bibliographicVolumeNumber": "27", "bibliographic_titles": [{"bibliographic_title": "IEEE Transactions on Control Systems Technology"}]}]}, "item_10_description_4": {"attribute_name": "\u6284\u9332", "attribute_value_mlt": [{"subitem_description": "This brief considers the problem of trajectory tracking of a planar snake robot without a lateral constraint. The reference trajectory of the head position and the orientation of link 1 are given, and torque control is determined to reduce tracking errors. The performance of the controller was tested in a number of simulations. The robustness during actuator failure was also studied. We assumed that one of the actuators was broken and the corresponding joint became passive. Furthermore, as a more realistic situation, we considered an instance when some of the states were not readily accessible from the sensor readings and needed to be estimated by an observer. The extended Kalman filter was employed for this purpose, and the performance of the closed-loop system with the observer was also tested in simulations.", "subitem_description_type": "Abstract"}]}, "item_10_publisher_32": {"attribute_name": "\u51fa\u7248\u8005", "attribute_value_mlt": [{"subitem_publisher": "IEEE"}]}, "item_10_relation_11": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type_id": {"subitem_relation_type_id_text": "https://doi.org/10.1109/TCST.2018.2866964", "subitem_relation_type_select": "DOI"}}]}, "item_10_rights_12": {"attribute_name": "\u6a29\u5229", "attribute_value_mlt": [{"subitem_rights": "\u201c\u00a9 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.\u201d"}]}, "item_10_select_15": {"attribute_name": "\u8457\u8005\u7248\u30d5\u30e9\u30b0", "attribute_value_mlt": [{"subitem_select_item": "author"}]}, "item_10_source_id_61": {"attribute_name": "ISSN\uff08print\uff09", "attribute_value_mlt": [{"subitem_source_identifier": "1063-6536", "subitem_source_identifier_type": "ISSN"}]}, "item_creator": {"attribute_name": "\u8457\u8005", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Ariizumi, Ryo"}], "nameIdentifiers": [{"nameIdentifier": "96193", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Takahashi, Ryota"}], "nameIdentifiers": [{"nameIdentifier": "96194", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Tanaka, Motoyasu"}], "nameIdentifiers": [{"nameIdentifier": "96195", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Asai, Toru"}], "nameIdentifiers": [{"nameIdentifier": "96196", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "\u30d5\u30a1\u30a4\u30eb\u60c5\u5831", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2020-02-19"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "edited_finalVer.pdf", "filesize": [{"value": "1.9 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 1900000.0, "url": {"label": "edited_finalVer", "url": "https://nagoya.repo.nii.ac.jp/record/29341/files/edited_finalVer.pdf"}, "version_id": "7a57e89c-0b9a-4343-932b-dd9c69be5bba"}]}, "item_language": {"attribute_name": "\u8a00\u8a9e", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "item_resource_type": {"attribute_name": "\u8cc7\u6e90\u30bf\u30a4\u30d7", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure", "item_titles": {"attribute_name": "\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_title": "Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure"}]}, "item_type_id": "10", "owner": "1", "path": ["320/321/322"], "permalink_uri": "http://hdl.handle.net/2237/00031528", "pubdate": {"attribute_name": "\u516c\u958b\u65e5", "attribute_value": "2020-02-19"}, "publish_date": "2020-02-19", "publish_status": "0", "recid": "29341", "relation": {}, "relation_version_is_last": true, "title": ["Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure"], "weko_shared_id": null}