{"created":"2023-05-15T12:36:10.343079+00:00","id":5388,"links":{},"metadata":{"_buckets":{"deposit":"6a9af24e-0fb7-4844-b390-c4f009ab5792"},"_deposit":{"created_by":3,"id":"5388","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"5388"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00005388","sets":["31"]},"author_link":["18745","15717","18681","18744"],"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":"チョウヤク　ロボット　ノタメノ　ヒタイショウガタ　ヘイループ　ジュウナン　カタパルト"},{"subitem_alternative_title":"Asymmetric Robotic Catapults based on the Closed Elastica for Jumping Robot"}]},"item_10001_biblio_info_28":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-05-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"371","bibliographicPageStart":"363","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":"In this paper, we propose new asymmetric robotic catapults based on the closed elastica. The conventional robotic catapults based on the closed elastica the authors developed are the robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical closed elastic catapult, the two ends of an elastic strip are fixed to a passive rotational joint and an active rotational joint, respectively. Here, we found that we could obtain higher impulsive motions by adding the range limitation to a passive rotational joint which makes the shape of the elastic strip just before snap-through buckling complicated. The range limitation leads to storing the higher elastic energy for an impulsive motion without changing the actuator of the active joint. We show the results of theoretical analysis and numerical simulations which support the effectiveness of the proposed robotic catapults. We also show that the jumping robot with the asymmetric robotic catapult achieves high performance.","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":"Yamada, Atsushi"}]},{"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":"山田, 篤史"},{"creatorName":"ヤマダ, アツシ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"渡, 正充"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"望山, 洋"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"藤本, 英雄"}],"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":"RSJ26_363.pdf","filesize":[{"value":"8.6 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/5388/files/RSJ26_363.pdf"},"version_id":"1dd96e72-cb85-4b6d-a7f3-a09bcce1097b"}]},"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":"跳躍ロボットのための非対称型閉ループ柔軟カタパルト","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"跳躍ロボットのための非対称型閉ループ柔軟カタパルト"}]},"item_type_id":"10001","owner":"3","path":["31"],"pubdate":{"attribute_name":"公開日","attribute_value":"2013-06-25"},"publish_date":"2013-06-25","publish_status":"0","recid":"5388","relation_version_is_last":true,"title":["跳躍ロボットのための非対称型閉ループ柔軟カタパルト"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-05-16T14:37:29.651261+00:00"}