{"created":"2023-05-15T12:36:06.717561+00:00","id":5302,"links":{},"metadata":{"_buckets":{"deposit":"8256a16a-945a-4dc8-913e-e8f24f10c5e0"},"_deposit":{"created_by":3,"id":"5302","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"5302"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00005302","sets":["31"]},"author_link":["15717","8805","18236"],"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　ノ　アンテイ　メカニズム　オ　キハン　としたヘイコウテン　セイセイ　ト　キョクショ　アンテイカ"},{"subitem_alternative_title":"Generation and Local Stabilization of Fixed Point based on a Stability Mechanism of Passive Walking"}]},"item_10001_biblio_info_28":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-07-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"5","bibliographicPageEnd":"639","bibliographicPageStart":"632","bibliographicVolumeNumber":"24","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 with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle only by interaction between the nonlinear dynamic system and the environment. Though the passive walker is simple, it is a sort of hybrid system which combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. This study aims to construct the general design framework of realizing the natural and efficient walking on level ground and uphill. In this paper, we focus on the stability mechanism of fixed point in passive walking. At first, a generation method of fixed point based on its physical structure, which is formed by an energy balance, a leg-exchange phenomenon, and a leg-swing motion, is proposed. Secondly, for the purpose of highest local stability of the fixed point, a dynamics-based control method utilizing the fixed point's stability mechanism is proposed. The validity of the proposed methods is confirmed by the simulation of finite time settling in the level-walking.","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 24_632.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/5302/files/RSJ 24_632.pdf"},"version_id":"9dc99240-cce5-4413-802e-87b4a440b137"}]},"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":"受動歩行の安定メカニズムを規範とした平衡点生成と局所安定化","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"受動歩行の安定メカニズムを規範とした平衡点生成と局所安定化"}]},"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":"5302","relation_version_is_last":true,"title":["受動歩行の安定メカニズムを規範とした平衡点生成と局所安定化"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-05-15T14:28:09.792644+00:00"}