{"created":"2023-05-15T08:44:48.120658+00:00","id":10095,"links":{},"metadata":{"_buckets":{"deposit":"e7d71078-c9d5-4659-87bc-6f0f0df6f83e"},"_deposit":{"created_by":13,"id":"10095","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"10095"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00010095","sets":["6"]},"author_link":["27011","27012","27013"],"control_number":"10095","item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2020-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"118","bibliographicPageStart":"111","bibliographicVolumeNumber":"5","bibliographic_titles":[{"bibliographic_title":"IEEE Robotics and Automation Letters","bibliographic_titleLang":"en"}]}]},"item_10001_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This letter presents a simultaneous trajectory tracking control method for two points of a snake robot. The kinematic model considering two regulated points is determined as a switched system that is switched by lifting a few wheels. The system becomes a kinematically redundant system by the lifting of the wheels; however, it has to prevent two types of singular configurations; one is the traditional one, and the other is caused by regulating two points simultaneously. Using this redundancy and selecting the lifted wheels, we design a trajectory tracking controller for two points by preventing the two types of singular configurations. The effectiveness of the proposed control method was demonstrated by tracking experiments as well as applications, namely, the transportation of an object by caging manipulation and the steering of a handcart.","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/LRA.2019.2947003","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/LRA.2019.2947003","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"(c) 2020 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":"23773766","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":"Nakajima, Mizuki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tanaka, Motoyasu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tanaka, Kazuo","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2022-02-04"}],"displaytype":"detail","filename":"Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation.pdf","filesize":[{"value":"4.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation","url":"https://uec.repo.nii.ac.jp/record/10095/files/Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation.pdf"},"version_id":"59a8be3e-47ed-4d70-9e9f-a22ec49e8482"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Biologically-Inspired Robots","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Redundant Robots","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Wheeled Robots","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":"Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation","subitem_title_language":"en"}]},"item_type_id":"10001","owner":"13","path":["6"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2022-02-04"},"publish_date":"2022-02-04","publish_status":"0","recid":"10095","relation_version_is_last":true,"title":["Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-07-21T07:12:23.694988+00:00"}