WEKO3
アイテム
{"_buckets": {"deposit": "3fc1d415-1673-46bf-9cd5-3c914785d4c1"}, "_deposit": {"created_by": 13, "id": "9682", "owners": [13], "pid": {"revision_id": 0, "type": "depid", "value": "9682"}, "status": "published"}, "_oai": {"id": "oai:uec.repo.nii.ac.jp:00009682", "sets": ["6"]}, "author_link": ["26115", "26116", "26117", "26118", "26119"], "control_number": "9682", "item_10001_biblio_info_7": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2019-11-12", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "2", "bibliographicPageEnd": "103", "bibliographicPageStart": "89", "bibliographicVolumeNumber": "34", "bibliographic_titles": [{"bibliographic_title": "Advanced Robotics", "bibliographic_titleLang": "en"}]}]}, "item_10001_description_5": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "In this work, we develop a folding arm on an articulated mobile robot to inspect an industrial plant. The design targets of the arm, its operations, measurement ability, and mobility, were set for the task of inspecting an industrial plant. To accomplish the targets, we designed the folding arm considering both accessibility to high locations and the mobility of the articulated mobile robot to which it is attached. The arm has links, joints, dummy wheels, and sensors and enables the robot to which it is attached to manipulate objects, e.g. rotating valves, opening a door, or inspecting by accessing high locations. In addition, changing the posture of the arm and touching the dummy wheel in the arm to the surrounding terrain can reduce any negative effect of the arm on the robot\u0027s mobility when it encounters narrow spaces, stairs, steps, and trenches. The arm is controlled as a six degrees-of-freedom manipulator without redundancy by an operator who directly sets two joint angles. The effectiveness of the developed arm was demonstrated not only through experiments in a laboratory but also in a field test at the Plant Disaster Prevention Challenge of the World Robot Summit 2018.", "subitem_description_type": "Abstract"}]}, "item_10001_publisher_8": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "Taylor \u0026 Francis"}]}, "item_10001_relation_14": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "10.1080/01691864.2019.1689167", "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/10.1080/01691864.2019.1689167", "subitem_relation_type_select": "DOI"}}]}, "item_10001_rights_15": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "This is an Accepted Manuscript of an article published by Taylor \u0026 Francis in Advanced Robotics on 12/11/2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1689167."}]}, "item_10001_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "01691864", "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": "Matsumoto, Nobutaka", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "26115", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Tanaka, Motoyasu", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "26116", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Nakajima, Mizuki", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "26117", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Fujita, Masahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "26118", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Tadakuma, Kenjiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "26119", "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": "2020-11-12"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "AR2020_arm.pdf", "filesize": [{"value": "6.4 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 6400000.0, "url": {"label": "AR2020_arm", "url": "https://uec.repo.nii.ac.jp/record/9682/files/AR2020_arm.pdf"}, "version_id": "4e492641-c31c-4f76-a28d-3f7ff15215eb"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Folding arm", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "articulated mobile robot", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "rotating valves", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "opening doors", "subitem_subject_language": "en", "subitem_subject_scheme": "Other"}, {"subitem_subject": "world robot summit", "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": "Development of a folding arm on an articulated mobile robot for plant disaster prevention", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Development of a folding arm on an articulated mobile robot for plant disaster prevention", "subitem_title_language": "en"}]}, "item_type_id": "10001", "owner": "13", "path": ["6"], "permalink_uri": "https://uec.repo.nii.ac.jp/records/9682", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2020-11-24"}, "publish_date": "2020-11-24", "publish_status": "0", "recid": "9682", "relation": {}, "relation_version_is_last": true, "title": ["Development of a folding arm on an articulated mobile robot for plant disaster prevention"], "weko_shared_id": -1}
Development of a folding arm on an articulated mobile robot for plant disaster prevention
https://uec.repo.nii.ac.jp/records/9682
https://uec.repo.nii.ac.jp/records/9682335e6173-c38d-4aa8-a9f5-42b97a69b7fc
名前 / ファイル | ライセンス | アクション |
---|---|---|
AR2020_arm (6.4 MB)
|
|
Item type | 学術雑誌論文 / Journal Article(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2020-11-24 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Development of a folding arm on an articulated mobile robot for plant disaster prevention | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Folding arm | |||||
キーワード | ||||||
言語 | en | |||||
主題 | articulated mobile robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | rotating valves | |||||
キーワード | ||||||
言語 | en | |||||
主題 | opening doors | |||||
キーワード | ||||||
言語 | en | |||||
主題 | world robot summit | |||||
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 |
Matsumoto, Nobutaka
× Matsumoto, Nobutaka× Tanaka, Motoyasu× Nakajima, Mizuki× Fujita, Masahiro× Tadakuma, Kenjiro |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In this work, we develop a folding arm on an articulated mobile robot to inspect an industrial plant. The design targets of the arm, its operations, measurement ability, and mobility, were set for the task of inspecting an industrial plant. To accomplish the targets, we designed the folding arm considering both accessibility to high locations and the mobility of the articulated mobile robot to which it is attached. The arm has links, joints, dummy wheels, and sensors and enables the robot to which it is attached to manipulate objects, e.g. rotating valves, opening a door, or inspecting by accessing high locations. In addition, changing the posture of the arm and touching the dummy wheel in the arm to the surrounding terrain can reduce any negative effect of the arm on the robot's mobility when it encounters narrow spaces, stairs, steps, and trenches. The arm is controlled as a six degrees-of-freedom manipulator without redundancy by an operator who directly sets two joint angles. The effectiveness of the developed arm was demonstrated not only through experiments in a laboratory but also in a field test at the Plant Disaster Prevention Challenge of the World Robot Summit 2018. | |||||
書誌情報 |
en : Advanced Robotics 巻 34, 号 2, p. 89-103, 発行日 2019-11-12 |
|||||
出版者 | ||||||
出版者 | Taylor & Francis | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 01691864 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1080/01691864.2019.1689167 | |||||
権利 | ||||||
権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 12/11/2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1689167. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1080/01691864.2019.1689167 | |||||
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 |