{"_buckets": {"deposit": "30edfa8d-18a8-4675-b7ae-234d45e0be72"}, "_deposit": {"id": "7730", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "7730"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00007730", "sets": ["322"]}, "author_link": ["21917", "21918", "21919", "21920", "21921"], "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2007", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "2203", "bibliographicPageStart": "2198", "bibliographic_titles": [{"bibliographic_title": "International Conference on Intelligent Robots and Systems", "bibliographic_titleLang": "en"}]}]}, "item_10_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "Restoring mechanical energy lost by heel-strike collisions is necessary for stable gaint generation. One principle to realize this is parametric excitation. Recently, Asano et al. applied this principle to a biped robot with telescopic-legs, and succeeded in generating a sustainable biped gait by computer simulation. In this paper, we deal with a model of a biped robot that has not only semicircular feet but also actuated knees. Though this robot has no actuator at the hip, knee actuators can sustain gait by parametric excitation. We first verify that an actuated knee can cause parametric excitation, and then show by computer simulation that the proposed biped robot can walk continuously with actuated knees only.", "subitem_description_language": "en", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/9449"}]}, "item_10_publisher_32": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "IEEE", "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/10.1109/IROS.2007.4399337", "subitem_relation_type_select": "DOI"}}]}, "item_10_relation_8": {"attribute_name": "ISBN", "attribute_value_mlt": [{"subitem_relation_type": "isPartOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "978-1-4244-0912-9", "subitem_relation_type_select": "ISBN"}}]}, "item_10_rights_12": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "Copyright © 2007 IEEE. Reprinted from (relevant publication info). This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.", "subitem_rights_language": "en"}]}, "item_10_select_15": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_text_14": {"attribute_name": "フォーマット", "attribute_value_mlt": [{"subitem_text_value": "application/pdf"}]}, "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": "Harata, Yuji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "21917", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Asano, Fumihiko", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "21918", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Luo, Zhi-Wei", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "21919", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Taji, Kouichi", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "21920", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Uno, Yoji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "21921", "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": "2018-02-19"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "taji.pdf", "filesize": [{"value": "392.5 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 392500.0, "url": {"label": "taji.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/7730/files/taji.pdf"}, "version_id": "0b0919a5-630e-42ed-ab25-4c2c06fe0b0c"}]}, "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": "Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation", "subitem_title_language": "en"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/9449", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2008-02-22"}, "publish_date": "2008-02-22", "publish_status": "0", "recid": "7730", "relation": {}, "relation_version_is_last": true, "title": ["Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation"], "weko_shared_id": -1}