{"created":"2023-05-15T08:43:55.623360+00:00","id":9078,"links":{},"metadata":{"_buckets":{"deposit":"ceca7d0f-1568-4387-986b-0b12d9cff93c"},"_deposit":{"created_by":13,"id":"9078","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"9078"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00009078","sets":["6"]},"author_link":["24725","24726","24724"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2018-10","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"5","bibliographicPageEnd":"1391","bibliographicPageStart":"1384","bibliographicVolumeNumber":"34","bibliographic_titles":[{},{"bibliographic_title":"IEEE Transactions on Robotics","bibliographic_titleLang":"en"}]}]},"item_10001_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper presents a method for designing the gait of a snake robot that moves in a complicated environment. We propose a method for expressing the target form of a snake robot by connecting curve segments whose curvature and torsion are already known. Because the characteristics of each combined shape are clear, we can design the target form intuitively and approximate a snake robot configuration to this form with low computational cost. In addition, we propose two novel gaits for the snake robot as a design example of the proposed method. The first gait is aimed at moving over a flange on a pipe, while the other is the crawler gait aimed at moving over rough terrain. We demonstrated the effectiveness of the two gaits on a pipe and rough terrain in experiments.","subitem_description_type":"Abstract"}]},"item_10001_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE (Institute of Electrical and Electronics Engineers) "}]},"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/TRO.2018.2830346","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/TRO.2018.2830346","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":" \t(C) 2018 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":"1552-3098","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":"Takemori, Tatsuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tanaka, Motoyasu","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":"2019-04-05"}],"displaytype":"detail","filename":"TRO_2018_edited_finalVer.pdf","filesize":[{"value":"2.7 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"TRO_2018_edited_finalVer","url":"https://uec.repo.nii.ac.jp/record/9078/files/TRO_2018_edited_finalVer.pdf"},"version_id":"4412cd31-f2b2-4811-a16a-22b2110ee510"}]},"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":"Redundant Robots","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Search and Rescue Robots","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"and Inspection","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":"Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration","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":"9078","relation_version_is_last":true,"title":["Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:27:59.321539+00:00"}