{"created":"2023-05-15T08:44:03.836029+00:00","id":9288,"links":{},"metadata":{"_buckets":{"deposit":"23a4ce95-3ac4-43e1-bb73-0fed4b39dd8b"},"_deposit":{"created_by":13,"id":"9288","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"9288"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00009288","sets":["6"]},"author_link":["25389","25387","25388"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2015-08","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"1641","bibliographicPageStart":"1633","bibliographicVolumeNumber":"20","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":"This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints. The robot can switch the wheels that touch the ground by lifting the required parts of its body. The model of the robot becomes a kinematically redundant system if certain wheels are lifted. Using this kinematic redundancy, and selecting the appropriate lifted parts, we design a controller for approximate path tracking. Simulations and experimental results show that the proposed controller effectively reduces the path-tracking error for all joints of the snake 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.2014.2367657","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.2014.2367657","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":"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":"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":"2019-07-23"}],"displaytype":"detail","filename":"2015_TMECH.pdf","filesize":[{"value":"4.0 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"2015_TMECH","url":"https://uec.repo.nii.ac.jp/record/9288/files/2015_TMECH.pdf"},"version_id":"4391a3f1-73ab-437a-8c64-eb0ca9cbbc71"}]},"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":"Path-tracking","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":"Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints","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":"9288","relation_version_is_last":true,"title":["Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:18:51.886595+00:00"}