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The proposed method utilizes variational symmetry of the plant model in executing the steepest decent method in the learning algorithm. This allows one to obtain solutions of a class of optimal control problems without using precise knowledge of the plant model. Furthermore, its application to a hopping robot produces a passive running gait trajectory with zero input. Some numerical examples demonstrate the effectiveness of the proposed method.", "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/2237/9532"}]}, "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.2006.282471", "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": "1-4244-0259-X", "subitem_relation_type_select": "ISBN"}}]}, "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": "Satoh, Satoshi", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "22226", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Fujimoto, Kenji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "22227", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Hyon, Sang-Ho", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "22228", "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": "fujimoto_3.pdf", "filesize": [{"value": "198.3 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 198300.0, "url": {"label": "fujimoto_3.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/7811/files/fujimoto_3.pdf"}, "version_id": "a47e091e-44dd-4e0f-928b-2883d9d532b4"}]}, "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": "Gait Generation for Passive Running via Iterative Learning Control", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Gait Generation for Passive Running via Iterative Learning Control", "subitem_title_language": "en"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/9532", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2008-02-29"}, "publish_date": "2008-02-29", "publish_status": "0", "recid": "7811", "relation": {}, "relation_version_is_last": true, "title": ["Gait Generation for Passive Running via Iterative Learning Control"], "weko_shared_id": -1}