{"created":"2023-05-15T08:43:55.493418+00:00","id":9075,"links":{},"metadata":{"_buckets":{"deposit":"fbcb41ea-85fd-43c0-ae5d-57c34c1cf0a4"},"_deposit":{"created_by":13,"id":"9075","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"9075"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00009075","sets":["6"]},"author_link":["24718","24719","24717","24716"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2018-04-08","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"10","bibliographicPageEnd":"573","bibliographicPageStart":"559","bibliographicVolumeNumber":"32","bibliographic_titles":[{},{"bibliographic_title":"Advanced Robotics","bibliographic_titleLang":"en"}]}]},"item_10001_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"A control method that makes the head of a snake robot follow an arbitrary trajectory on two non-parallel planes, including coexisting sloped and flat planes, is presented. We clarify an appropriate condition of contact between the robot and planes and design a controller for the part of the robot connecting the two planes that satisfies the contact condition. Assuming that the contact condition is satisfied, we derive a simplified model of the robot and design a controller for trajectory tracking of the robot’s head. The controller uses kinematic redundancy to avoid violating the limit of the joint angle and a collision between the robot and the edge of a plane. The effectiveness of the proposed method is demonstrated in experiments using an actual robot.","subitem_description_type":"Abstract"}]},"item_10001_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Taylor & Francis "}]},"item_10001_relation_14":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.1080/01691864.2018.1458653","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/10.1080/01691864.2018.1458653","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 & Francis Group in Advanced Robotics on 08/04/2018, available online: http://www.tandfonline.com/10.1080/01691864.2018.1458653."}]},"item_10001_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0169-1864","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":[{}]},{"creatorNames":[{"creatorName":"Matsuno, Fumitoshi","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":"2019-04-08"}],"displaytype":"detail","filename":"AR_2018_edited_finalVer.pdf","filesize":[{"value":"3.8 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AR_2018_edited_finalVer","url":"https://uec.repo.nii.ac.jp/record/9075/files/AR_2018_edited_finalVer.pdf"},"version_id":"99cccbd0-64b4-4ce0-807b-2ae43ff821df"}]},"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":"Slope","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Redundancy","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Trajectory tracking","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":"Motion control of a snake robot moving between two non-parallel planes","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Motion control of a snake robot moving between two non-parallel planes","subitem_title_language":"en"}]},"item_type_id":"10001","owner":"13","path":["6"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-04-05"},"publish_date":"2019-04-05","publish_status":"0","recid":"9075","relation_version_is_last":true,"title":["Motion control of a snake robot moving between two non-parallel planes"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:28:00.220044+00:00"}