{"created":"2023-05-15T12:36:10.004350+00:00","id":5380,"links":{},"metadata":{"_buckets":{"deposit":"95ac8123-35fd-4764-9c91-678b42213f4b"},"_deposit":{"created_by":91,"id":"5380","owners":[91],"pid":{"revision_id":0,"type":"depid","value":"5380"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00005380","sets":["31"]},"author_link":["18681","15717","18681","18682","15717"],"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":"ヘイループ　ジュウナン　カタパルト　ノ　セイリキガク　カイセキ","subitem_alternative_title_language":"ja-Kana"},{"subitem_alternative_title":"Statics Analysis of the Robotic Catapults based on the Closed Elastica","subitem_alternative_title_language":"en"}]},"item_10001_biblio_info_28":{"attribute_name":"bibliographic_information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-03-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"177","bibliographicPageStart":"169","bibliographicVolumeNumber":"26","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":"In this paper, statics analysis is made for our proposed robotic catapults based on the closed elastica as a robotic element for generating motions with impulsive acceleration. The proposed robotic catapults are just bended elastic strips whose two ends are fixed to two rotational joints. By only driving rotational joints back and forth gradually in order to achieve snap-through buckling actively, we can easily obtain repeated impulsive motions of the elastic strip. However, the characteristic as the robotic element has not been clarified enough because the structure contains an elastic strip with large deformation. Ou r statics analysis for planar deformable type catapults shows as follows. From theoretical analysis, the shape of the elastic strip is stiffness independent and the actuator torque necessary to drive the rotational joint is proportional to the stiffness of the elastic strip. From numerical simulations, the proposed catapults have the structure that suppress the driving torque necessary to store elastic energy. Using these results, we can indicate a design guidelines for compact and powerful mobile robots moving briskly.","subitem_description_language":"en","subitem_description_type":"Other"}]},"item_10001_full_name_27":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"18681","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Yamada, Atsushi"}]},{"nameIdentifiers":[{"nameIdentifier":"15717","nameIdentifierScheme":"WEKO"}],"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","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":"山田, 篤史"},{"creatorName":"ヤマダ, アツシ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"18681","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"望山, 洋"},{"creatorName":"&EMPTY&","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"18682","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"藤本, 英雄"},{"creatorName":"フジモト, ヒデオ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"15717","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":"2017-01-25"}],"displaytype":"detail","filename":"RSJ26_169.pdf","filesize":[{"value":"6.9 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/5380/files/RSJ26_169.pdf"},"version_id":"44d5e85f-56f9-4ed8-b9e0-a431b3ce9473"}]},"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":"閉ループ柔軟カタパルトの静力学解析","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"閉ループ柔軟カタパルトの静力学解析","subitem_title_language":"ja"}]},"item_type_id":"10001","owner":"91","path":["31"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2013-06-25"},"publish_date":"2013-06-25","publish_status":"0","recid":"5380","relation_version_is_last":true,"title":["閉ループ柔軟カタパルトの静力学解析"],"weko_creator_id":"91","weko_shared_id":-1},"updated":"2025-03-21T02:12:08.238916+00:00"}