{"created":"2023-05-15T08:44:03.581750+00:00","id":9282,"links":{},"metadata":{"_buckets":{"deposit":"9c76cc98-d689-43ca-9c1b-dff8a887a841"},"_deposit":{"created_by":13,"id":"9282","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"9282"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00009282","sets":["6"]},"author_link":["25372","25373","25371","25374"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2018-04","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"541","bibliographicPageStart":"531","bibliographicVolumeNumber":"23","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":"In this paper, we develop an articulated mobile robot that can climb stairs, and also move in narrow spaces and on 3-D terrain. This paper presents two control methods for this robot. The first is a 3-D steering method that is used to adapt the robot to the surrounding terrain. In this method, the robot relaxes its joints, allowing it to adapt to the terrain using its own weight, and then, resumes its motion employing the follow-the-leader method. The second control method is the semi-autonomous stair climbing method. In this method, the robot connects with the treads of the stairs using a body called a connecting part, and then shifts the connecting part from its head to its tail. The robot then uses the sensor information to shift the connecting part with appropriate timing. The robot can climb stairs using this method even if the stairs are steep, and the sizes of the riser and the tread of the stairs are unknown. Experiments are performed to demonstrate the effectiveness of the proposed methods and the developed 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.2018.2792013","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.2018.2792013","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 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":"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":[{}]},{"creatorNames":[{"creatorName":"Nakajima, Mizuki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Suzuki, Yosuke","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":"2019-07-23"}],"displaytype":"detail","filename":"2018_TMECH.pdf","filesize":[{"value":"5.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"2018_TMECH","url":"https://uec.repo.nii.ac.jp/record/9282/files/2018_TMECH.pdf"},"version_id":"def03452-821e-48c0-a075-197f57958ac7"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Articulated mobile robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"stair climbing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"terrain adaptability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"search and rescue","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"plant 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":"Development and Control of Articulated Mobile Robot for Climbing Steep Stairs","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Development and Control of Articulated Mobile Robot for Climbing Steep Stairs","subitem_title_language":"en"}]},"item_type_id":"10001","owner":"13","path":["6"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-07-23"},"publish_date":"2019-07-23","publish_status":"0","recid":"9282","relation_version_is_last":true,"title":["Development and Control of Articulated Mobile Robot for Climbing Steep Stairs"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:19:11.382321+00:00"}