{"created":"2023-05-15T08:44:03.625376+00:00","id":9283,"links":{},"metadata":{"_buckets":{"deposit":"889faaee-07b0-4ba7-b02b-9b92bd6859d6"},"_deposit":{"created_by":13,"id":"9283","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"9283"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00009283","sets":["6"]},"author_link":["25376","25375"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2017-07","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"1448","bibliographicPageStart":"1441","bibliographicVolumeNumber":"25","bibliographic_titles":[{},{"bibliographic_title":"IEEE Transactions on Control Systems Technology","bibliographic_titleLang":"en"}]}]},"item_10001_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper proposes a shape control method for a snake robot, which maintains head position and orientation, and avoids joint limits and self-collision. We used a passive wheeled snake robot that can switch the grounded/lifted status of its wheels. We derived a kinematic model of the robot that represents its redundancy as both joint angles [the shape controllable points (SCPs)] and the null space of the control input. In the control method, the shape is changed by sequential control of the SCPs, and the null space of the control input is used for joint limit and self-collision avoidance. Jumps in control input do not occur, although the controlled variable and the model are switched. Simulations and an experiment were used to demonstrate the effectiveness of the proposed method.","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/TCST.2016.2614832","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/TCST.2016.2614832","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2017 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":"1063-6536","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":"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":"2017_TCST.pdf","filesize":[{"value":"2.7 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"2017_TCST","url":"https://uec.repo.nii.ac.jp/record/9283/files/2017_TCST.pdf"},"version_id":"72974de2-74f5-4243-8a81-daf6014a3096"}]},"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":"Shape control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Joint limit","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Selfcollision","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Redundancy","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Switching constraints","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Shape controllable points","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":"Shape Control of a Snake Robot With Joint Limit and Self-Collision Avoidance","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Shape Control of a Snake Robot With Joint Limit and Self-Collision Avoidance","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":"9283","relation_version_is_last":true,"title":["Shape Control of a Snake Robot With Joint Limit and Self-Collision Avoidance"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:19:10.293732+00:00"}