WEKO3
アイテム
{"_buckets": {"deposit": "23a4ce95-3ac4-43e1-bb73-0fed4b39dd8b"}, "_deposit": {"created_by": 13, "id": "9288", "owners": [13], "pid": {"revision_id": 0, "type": "depid", "value": "9288"}, "status": "published"}, "_oai": {"id": "oai:uec.repo.nii.ac.jp:00009288", "sets": ["6"]}, "author_link": ["25389", "25387", "25388"], "item_10001_biblio_info_7": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2015-08", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "4", "bibliographicPageEnd": "1641", "bibliographicPageStart": "1633", "bibliographicVolumeNumber": "20", "bibliographic_titles": [{}, {"bibliographic_title": "IEEE/ASME Transactions on Mechatronics", "bibliographic_titleLang": "en"}]}]}, "item_10001_description_5": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints. The robot can switch the wheels that touch the ground by lifting the required parts of its body. The model of the robot becomes a kinematically redundant system if certain wheels are lifted. Using this kinematic redundancy, and selecting the appropriate lifted parts, we design a controller for approximate path tracking. Simulations and experimental results show that the proposed controller effectively reduces the path-tracking error for all joints of the snake robot.", "subitem_description_type": "Abstract"}]}, "item_10001_publisher_8": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "IEEE"}]}, "item_10001_relation_14": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "10.1109/TMECH.2014.2367657", "subitem_relation_type_select": "DOI"}}]}, "item_10001_relation_17": {"attribute_name": "関連サイト", "attribute_value_mlt": [{"subitem_relation_type_id": {"subitem_relation_type_id_text": "https://doi.org/10.1109/TMECH.2014.2367657", "subitem_relation_type_select": "DOI"}}]}, "item_10001_rights_15": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. "}]}, "item_10001_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "1083-4435", "subitem_source_identifier_type": "ISSN"}]}, "item_10001_version_type_20": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_version_resource": "http://purl.org/coar/version/c_ab4af688f83e57aa", "subitem_version_type": "AM"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Tanaka, Motoyasu", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "25387", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Tanaka, Kazuo", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "25388", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Matsuno, Fumitoshi", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "25389", "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": "2019-07-23"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "2015_TMECH.pdf", "filesize": [{"value": "4.0 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 4000000.0, "url": {"label": "2015_TMECH", "url": "https://uec.repo.nii.ac.jp/record/9288/files/2015_TMECH.pdf"}, "version_id": "4391a3f1-73ab-437a-8c64-eb0ca9cbbc71"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Snake robot", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Path-tracking", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Switching constraints", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Redundancy", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Kinematics", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "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": "Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints", "subitem_title_language": "en"}]}, "item_type_id": "10001", "owner": "13", "path": ["6"], "permalink_uri": "https://uec.repo.nii.ac.jp/records/9288", "pubdate": {"attribute_name": "公開日", "attribute_value": "2019-07-23"}, "publish_date": "2019-07-23", "publish_status": "0", "recid": "9288", "relation": {}, "relation_version_is_last": true, "title": ["Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints"], "weko_shared_id": -1}
Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints
https://uec.repo.nii.ac.jp/records/9288
https://uec.repo.nii.ac.jp/records/928811fde511-081b-41c0-98e2-a65b4847b7b2
名前 / ファイル | ライセンス | アクション |
---|---|---|
2015_TMECH (4.0 MB)
|
|
Item type | 学術雑誌論文 / Journal Article(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2019-07-23 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Snake robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Path-tracking | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Switching constraints | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Redundancy | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Kinematics | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Tanaka, Kazuo× Matsuno, Fumitoshi |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints. The robot can switch the wheels that touch the ground by lifting the required parts of its body. The model of the robot becomes a kinematically redundant system if certain wheels are lifted. Using this kinematic redundancy, and selecting the appropriate lifted parts, we design a controller for approximate path tracking. Simulations and experimental results show that the proposed controller effectively reduces the path-tracking error for all joints of the snake robot. | |||||
書誌情報 |
en : IEEE/ASME Transactions on Mechatronics 巻 20, 号 4, p. 1633-1641, 発行日 2015-08 |
|||||
出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1083-4435 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TMECH.2014.2367657 | |||||
権利 | ||||||
権利情報 | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TMECH.2014.2367657 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |