{"created":"2023-05-15T12:36:05.342985+00:00","id":5269,"links":{},"metadata":{"_buckets":{"deposit":"5d7fb79f-cc86-42cb-8220-73602cd5eff2"},"_deposit":{"created_by":3,"id":"5269","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"5269"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00005269","sets":["31"]},"author_link":["15717","18022","8805"],"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":"ジュドウ　ホコウ　ニオケル　ヘイコウテン　ノ　アンテイ　メカニズム　ノ　コウゾウ"},{"subitem_alternative_title":"A Stability Mechanism of the Fixed Point in Passive Walking"}]},"item_10001_biblio_info_28":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2005-10-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"7","bibliographicPageEnd":"846","bibliographicPageStart":"839","bibliographicVolumeNumber":"23","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌"}]}]},"item_10001_description_36":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"A passive walker can walk down shallow slope with no energy source other than gravity. This motion is very attractive because its gait is really natural and ideal. Moreover, the walker can exhibit a stable limit cycle. Dynamics of passive walking is very interesting target and important for understanding human locomotion and developing the biped robots. Though the passive walkers are mechanically simple, they are a sort of hybrid systems with the switching condition which combines the nonlinear differential equations describing the swing motion and the leg-exchange. This makes it difficult to analyze. In this paper, we focus on the mechanism of stability of fixed points in passive walking. For the sake of simplicity and clarity as possible, we use a biped model known as the simplest walking model and treat the inter-leg angle at heel-strike as a variable. The equations of stability condition are derived from the eigenvalues of discrete dynamical system. We demonstrate a physical structure which forms the fixed points and a mechanism of its stability.","subitem_description_type":"Other"}]},"item_10001_description_38":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_10001_full_name_27":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{},{}],"names":[{"name":"Sano, Akihito"}]},{"nameIdentifiers":[{}],"names":[{"name":"Fujimoto, Hideo"}]}]},"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"}]},"item_10001_source_id_30":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"ISSN"}]},"item_10001_source_id_32":{"attribute_name":"書誌レコードID（NCID）","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_10001_version_type_33":{"attribute_name":"著者版フラグ","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":"池俣, 吉人"},{"creatorName":"&EMPTY&","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"佐野, 明人"},{"creatorName":"サノ, アキヒト","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"藤本, 英雄"},{"creatorName":"フジモト, ヒデオ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-01-25"}],"displaytype":"detail","filename":"RSJ 23_839.pdf","filesize":[{"value":"2.5 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/5269/files/RSJ 23_839.pdf"},"version_id":"c4cdde8c-8d4f-48d9-b763-0de017939204"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"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":"受動歩行における平衡点の安定メカニズムの構造","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"受動歩行における平衡点の安定メカニズムの構造"}]},"item_type_id":"10001","owner":"3","path":["31"],"pubdate":{"attribute_name":"公開日","attribute_value":"2012-11-06"},"publish_date":"2012-11-06","publish_status":"0","recid":"5269","relation_version_is_last":true,"title":["受動歩行における平衡点の安定メカニズムの構造"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-05-15T14:28:56.540022+00:00"}