{"created":"2023-05-15T12:36:13.792646+00:00","id":5454,"links":{},"metadata":{"_buckets":{"deposit":"adc38631-93bc-45f5-b6ae-f3cd723c38ca"},"_deposit":{"created_by":3,"id":"5454","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"5454"},"status":"published"},"_oai":{"id":"oai:nitech.repo.nii.ac.jp:00005454","sets":["31"]},"author_link":["15717","19113","8805","19111"],"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　アシ　ウンドウ　ニ　タイスル　エン　カッコ　ノ　リキガクテキ　コウカ"},{"subitem_alternative_title":"Dynamical Effects of Arc Foot for Leg Motion of Passive Walking"}]},"item_10001_biblio_info_28":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2009-07-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"6","bibliographicPageEnd":"668","bibliographicPageStart":"661","bibliographicVolumeNumber":"27","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":"The passive walker with knees can naturally execute the leg motion, which is essential to take a step forward, by the dynamics of legs under the gravity only. On the other hand, an inadequate dynamics causes an undesirable leg motion, such that the stance leg bends at the knee joint, the swing leg unsuitably strikes its foot on the slope and the walker falls backward by the negative gravitational moment. Though an arc foot is very important for the leg motion, its dynamical effects and mechanism have never been clarified, and a useful design framework of its shape has never been established. In this study, for the sake of simplicity and clarity, the linearized simplest walking model is used. In this paper, the dynamical effects of the arc foot, which can keep the knee joint of stance leg straight only by the stopper and can enhance the flexion of knee joint of swing leg, are discussed. Also, its geometrical negative effect is examined. Furthermore, the forward-falling condition of the walker is derived based on the energy analysis. Finally, the desired arc foot is designed and the actual effects are confirmed by a 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"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"佐野, 明人"},{"creatorName":"サノ, アキヒト","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"安原, 潔志"}],"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":"RSJ 27_661.pdf","filesize":[{"value":"693.7 kB"}],"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/5454/files/RSJ 27_661.pdf"},"version_id":"f4ca688a-6407-4a9f-9137-ea6a891a33b7"}]},"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":"受動歩行の脚運動に対する円弧足の力学的効果","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"受動歩行の脚運動に対する円弧足の力学的効果"}]},"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":"5454","relation_version_is_last":true,"title":["受動歩行の脚運動に対する円弧足の力学的効果"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-05-15T14:23:44.827860+00:00"}