{"_buckets": {"deposit": "872e3581-749c-470c-8b79-6176d0065043"}, "_deposit": {"id": "7788", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "7788"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00007788", "sets": ["314"]}, "author_link": ["22099", "22100", "22101", "22102"], "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2007", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "4246", "bibliographicPageStart": "4241", "bibliographic_titles": [{"bibliographic_title": "IEEE/RSJ International Conference on Intelligent Robots and Systems", "bibliographic_titleLang": "en"}]}]}, "item_10_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "This paper presents the development of a contact interaction-based navigation strategy for a biped humanoid robot with the aim of supporting current visual-based navigation. The robot arms are equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization, correction of locomotion direction and obstacle avoidance. Priority is given to right-side direction to navigate the robot locomotion in conjunction with a strategy to avoid obstacles. The proposed algorithm is evaluated in an experiment with a humanoid robot operating in a room with walls and obstacles. The experimental results reveal good performance of the robot when recognizing objects by touching and grasping, continuously generating suitable trajectory to correct locomotion direction and avoiding collisions.", "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/2237/9507"}]}, "item_10_publisher_32": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "IEEE", "subitem_publisher_language": "ja"}]}, "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.2007.4399347", "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": "Yussof, Hanafiah", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "22099", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Yamano, Mitsuhiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "22100", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Ohka, Masahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "22101", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Nasu, Yasuo", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "22102", "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": "ohka_4.pdf", "filesize": [{"value": "1.6 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 1600000.0, "url": {"label": "ohka_4.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/7788/files/ohka_4.pdf"}, "version_id": "cf7a8012-3ddc-463b-abac-f331baf201c8"}]}, "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": "Development of a Contact Interaction-Based Navigation Strategy for a Biped Humanoid Robot", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Development of a Contact Interaction-Based Navigation Strategy for a Biped Humanoid Robot", "subitem_title_language": "en"}]}, "item_type_id": "10", "owner": "1", "path": ["314"], "permalink_uri": "http://hdl.handle.net/2237/9507", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2008-02-28"}, "publish_date": "2008-02-28", "publish_status": "0", "recid": "7788", "relation": {}, "relation_version_is_last": true, "title": ["Development of a Contact Interaction-Based Navigation Strategy for a Biped Humanoid Robot"], "weko_shared_id": -1}