{"created":"2023-05-15T12:35:16.737400+00:00","id":4117,"links":{},"metadata":{"_buckets":{"deposit":"ca16f128-1e97-45be-975b-57c0cfcaa80e"},"_deposit":{"created_by":91,"id":"4117","owners":[91],"pid":{"revision_id":0,"type":"depid","value":"4117"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00004117","sets":["31"]},"author_link":["8805","8805","11357","12147"],"item_10001_alternative_title_24":{"attribute_name":"その他（別言語等）のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"リサン　ジカン　モデル　オ　モチイタ　ホコウ　シュウキセイギョ　ニモトズク　４ソク　ロボット　ノ　ペース　ホコウ","subitem_alternative_title_language":"ja-Kana"},{"subitem_alternative_title":"A Pace Gait of Quadruped Robot Based on The Control of Walking Cycle Using A Discrete-time Model","subitem_alternative_title_language":"en"}]},"item_10001_biblio_info_28":{"attribute_name":"bibliographic_information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1991-12-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"7","bibliographicPageEnd":"876","bibliographicPageStart":"865","bibliographicVolumeNumber":"9","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌","bibliographic_titleLang":"ja"}]}]},"item_10001_description_36":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"A pace gait considering in this study is the walking in which lateral legs form pairs and the members of a pair strike the floor in unison and they leave the floor in unison. In order to realize a stable pace gait, it is very important to control actively a walking cycle. Namely, the proper control of the walking cycle ensures the cooperation of the sagittal motion and the lateral motion. In this study, a control method of the walking cycle based on the motion control in the lateral plane is proposed. A discrete-time model is suitable for the analysis of the walking system in case off adjusting the walking cycle. By using the proposed discrete-time model, several control method of the walking cycle are discussed. At first, a conventional proportional plus integral control is examined by using a maximum absolute value of the closed loop eigenvalues as a performnce index. Secondly, an optimal servo controller and a dead beat controller are discussed. For the sagittal motion control, a trafectory of the leg is designed under the consideration of the algorithm of the lateral motion control. The COLT-3 achieved a smooth pace gait at a speed of 0.25 m/s.","subitem_description_language":"en","subitem_description_type":"Other"}]},"item_10001_full_name_27":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"8805","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"1000080196295","nameIdentifierScheme":"NRID","nameIdentifierURI":"http://rns.nii.ac.jp/nr/1000080196295"}],"names":[{"name":"Sano, Akihito"}]}]},"item_10001_publisher_29":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"社団法人 日本ロボット学会","subitem_publisher_language":"ja"}]},"item_10001_source_id_30":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0289-1824","subitem_source_identifier_type":"ISSN"}]},"item_10001_source_id_32":{"attribute_name":"item_10001_source_id_32","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_10001_version_type_33":{"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_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"佐野, 明人"},{"creatorName":"サノ, アキヒト","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"8805","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"1000080196295","nameIdentifierScheme":"NRID","nameIdentifierURI":"http://rns.nii.ac.jp/nr/1000080196295"}]},{"creatorNames":[{"creatorName":"古荘, 純次"}],"nameIdentifiers":[{"nameIdentifier":"11357","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"尾関, 修一郎"}],"nameIdentifiers":[{"nameIdentifier":"12147","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":"2017-01-23"}],"displaytype":"detail","filename":"RSJ 9_865.pdf","filesize":[{"value":"5.4 MB"}],"format":"application/pdf","license_note":"Copyright 社団法人 日本ロボット学会","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"本文_fulltext","url":"https://nitech.repo.nii.ac.jp/record/4117/files/RSJ 9_865.pdf"},"version_id":"c9472f30-9838-4f27-9b43-926dfc8d4c9b"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"item_resource_type","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"離散時間モデルを用いた歩行周期制御に基づく4足ロボットのペース歩行","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"離散時間モデルを用いた歩行周期制御に基づく4足ロボットのペース歩行","subitem_title_language":"ja"}]},"item_type_id":"10001","owner":"91","path":["31"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2012-11-06"},"publish_date":"2012-11-06","publish_status":"0","recid":"4117","relation_version_is_last":true,"title":["離散時間モデルを用いた歩行周期制御に基づく4足ロボットのペース歩行"],"weko_creator_id":"91","weko_shared_id":-1},"updated":"2025-03-13T04:07:54.526711+00:00"}