{"created":"2023-05-15T08:44:03.752058+00:00","id":9286,"links":{},"metadata":{"_buckets":{"deposit":"3417d89a-6ea8-4c64-a1df-7a3bd360ca3e"},"_deposit":{"created_by":13,"id":"9286","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"9286"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00009286","sets":["6"]},"author_link":["25383","25382"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2015-04","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"520","bibliographicPageStart":"511","bibliographicVolumeNumber":"31","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 proposes control method for a snake robot to ascend and descend steps. In a multiplane step environment, it is necessary for locomotion to transfer from one plane to another. When a snake robot moves, it touches several planes as its body is long and thin. In this paper, we propose a control method to track the trajectory of a snake robot in a step environment. We decomposed the 3-D motion of the robot into two simple models by introducing an assumption that simplifies the model and controller, and derive a model of the robot as a hybrid system with switching. The control method consists of a tracking controller, a method for shifting the robot's part connecting the planes, and active lifting to control the shape of the robot. Ascent and descent experiments confirm the effectiveness of the proposed controller and the method for shifting the connecting part of the robot's body.","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/TRO.2015.2400655","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.2015.2400655","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"©2015 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":"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":"2015_TRO.pdf","filesize":[{"value":"1.5 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"2015_TRO","url":"https://uec.repo.nii.ac.jp/record/9286/files/2015_TRO.pdf"},"version_id":"af8c6988-1729-49b9-b9aa-8f0b9dcc9147"}]},"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":"Step climbing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Switching constraints","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Redundancy","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Kinematics","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":"Control of a Snake Robot for Ascending and Descending Steps","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Control of a Snake Robot for Ascending and Descending Steps","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":"9286","relation_version_is_last":true,"title":["Control of a Snake Robot for Ascending and Descending Steps"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:19:03.359741+00:00"}