ログイン
言語:

WEKO3

  • トップ
  • コミュニティ
  • ランキング
AND
To
lat lon distance
To

Field does not validate



インデックスリンク

インデックスツリー

メールアドレスを入力してください。

WEKO

One fine body…

WEKO

One fine body…

アイテム

{"_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"}, "item_10_biblio_info_6": {"attribute_name": "\u66f8\u8a8c\u60c5\u5831", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2007", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "2203", "bibliographicPageStart": "2198", "bibliographic_titles": [{"bibliographic_title": "International Conference on Intelligent Robots and Systems"}]}]}, "item_10_description_4": {"attribute_name": "\u6284\u9332", "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_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": "\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": "http://dx.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_id": {"subitem_relation_type_id_text": "978-1-4244-0912-9", "subitem_relation_type_select": "ISBN"}}]}, "item_10_rights_12": {"attribute_name": "\u6a29\u5229", "attribute_value_mlt": [{"subitem_rights": "Copyright \u00a9 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\u2019s 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."}]}, "item_10_select_15": {"attribute_name": "\u8457\u8005\u7248\u30d5\u30e9\u30b0", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_text_14": {"attribute_name": "\u30d5\u30a9\u30fc\u30de\u30c3\u30c8", "attribute_value_mlt": [{"subitem_text_value": "application/pdf"}]}, "item_creator": {"attribute_name": "\u8457\u8005", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Harata, Yuji"}], "nameIdentifiers": [{"nameIdentifier": "21917", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Asano, Fumihiko"}], "nameIdentifiers": [{"nameIdentifier": "21918", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Luo, Zhi-Wei"}], "nameIdentifiers": [{"nameIdentifier": "21919", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Taji, Kouichi"}], "nameIdentifiers": [{"nameIdentifier": "21920", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Uno, Yoji"}], "nameIdentifiers": [{"nameIdentifier": "21921", "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": "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_free", "mimetype": "application/pdf", "size": 392500.0, "url": {"label": "taji.pdf", "url": "https://nagoya.repo.nii.ac.jp/record/7730/files/taji.pdf"}, "version_id": "0b0919a5-630e-42ed-ab25-4c2c06fe0b0c"}]}, "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": "Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation", "item_titles": {"attribute_name": "\u30bf\u30a4\u30c8\u30eb", "attribute_value_mlt": [{"subitem_title": "Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation"}]}, "item_type_id": "10", "owner": "1", "path": ["320/321/322"], "permalink_uri": "http://hdl.handle.net/2237/9449", "pubdate": {"attribute_name": "\u516c\u958b\u65e5", "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": 3}
  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation

http://hdl.handle.net/2237/9449
eeeb9161-b846-4cf2-ad2a-5020a76ff785
名前 / ファイル ライセンス アクション
taji.pdf taji.pdf (392.5 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2008-02-22
タイトル
タイトル Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation
著者 Harata, Yuji

× Harata, Yuji

WEKO 21917

Harata, Yuji

Search repository
Asano, Fumihiko

× Asano, Fumihiko

WEKO 21918

Asano, Fumihiko

Search repository
Luo, Zhi-Wei

× Luo, Zhi-Wei

WEKO 21919

Luo, Zhi-Wei

Search repository
Taji, Kouichi

× Taji, Kouichi

WEKO 21920

Taji, Kouichi

Search repository
Uno, Yoji

× Uno, Yoji

WEKO 21921

Uno, Yoji

Search repository
権利
権利情報 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.
抄録
内容記述 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.
内容記述タイプ Abstract
出版者
出版者 IEEE
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
DOI
関連識別子
識別子タイプ DOI
関連識別子 http://dx.doi.org/10.1109/IROS.2007.4399337
ISBN
関連識別子
識別子タイプ ISBN
関連識別子 978-1-4244-0912-9
書誌情報 International Conference on Intelligent Robots and Systems

p. 2198-2203, 発行日 2007
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/9449
識別子タイプ HDL
戻る
0
views
See details
Views

Versions

Ver.1 2021-03-01 12:16:31.454129
Show All versions

Share

Mendeley CiteULike Twitter Facebook Print Addthis

Cite as

Export

OAI-PMH
  • OAI-PMH JPCOAR
  • OAI-PMH DublinCore
  • OAI-PMH DDI
Other Formats
  • JSON
  • BIBTEX

Confirm


Powered by CERN Data Centre & Invenio


Powered by CERN Data Centre & Invenio