{"created":"2023-05-15T12:36:09.962862+00:00","id":5379,"links":{},"metadata":{"_buckets":{"deposit":"cb41c907-9649-4361-b3dc-7d4a396de7a4"},"_deposit":{"created_by":3,"id":"5379","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"5379"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00005379","sets":["31"]},"author_link":["15717","18676","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":"ヘイコウテン　ノ　ダイイキテキ　アンテイカ　ゲンリ　ニモトズク　ロバストナ　ジュドウ　ホコウ"},{"subitem_alternative_title":"Robust Passive Walking Based on a Global Stabilization Principle of Fixed Point"}]},"item_10001_biblio_info_28":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-03-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"183","bibliographicPageStart":"178","bibliographicVolumeNumber":"26","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. This gait, which results from the interaction between the nonlinear dynamic system and the environment, is really a physical phenomenon in itself. Though the passive walking is energy efficient and has natural gait like human being, it is fragile. It is extremely difficult for a walker with knees to walk for several steps and achieve high success rate in the real world. The passive walker is a sort of hybrid system and can exhibit a stable limit cycle. Therefore, a global stability around the fixed point is essential for achieving robust walking. We focus on the stability mechanism of fixed point. In this paper, first, a global stabilization principle is mathematically established. Based on this principle, a simple mechanism making the inter-leg angle at heel-strike constant was adopted in the developed walker. Finally, the improvement of robustness is confirmed by a dynamical walking experiment.","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 26_178.pdf","filesize":[{"value":"7.4 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/5379/files/RSJ 26_178.pdf"},"version_id":"efba9e3a-a750-41bd-a3e8-477d760ca73e"}]},"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":"平衡点の大域的安定化原理に基づくロバストな受動歩行","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"平衡点の大域的安定化原理に基づくロバストな受動歩行"}]},"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":"5379","relation_version_is_last":true,"title":["平衡点の大域的安定化原理に基づくロバストな受動歩行"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-05-15T14:25:40.497586+00:00"}