{"created":"2023-05-15T08:44:04.811368+00:00","id":9312,"links":{},"metadata":{"_buckets":{"deposit":"6c6efb32-d8f2-4785-806e-5c82c86444d4"},"_deposit":{"created_by":13,"id":"9312","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"9312"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00009312","sets":["6"]},"author_link":["25418","25416","25417"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2016-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"264","bibliographicPageStart":"252","bibliographicVolumeNumber":"24","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":"We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online. One of the features of the method is that it determines suitable positions and time duration in which to sense the surroundings before approaching the step. Furthermore, constraints on velocity and acceleration are taken into account, so that the snake robot can securely follow the generated trajectory. Our method was applied to a snake robot equipped with a laser range finder, which is used for step detection. Experiments were performed to verify the efficacy of the 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.2015.2429615","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.2015.2429615","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2016 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":"Kon, Kazuyuki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"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":"2019-07-30"}],"displaytype":"detail","filename":"2016_TCST_kon.pdf","filesize":[{"value":"4.8 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"2016_TCST_kon","url":"https://uec.repo.nii.ac.jp/record/9312/files/2016_TCST_kon.pdf"},"version_id":"41aff7a1-f4b3-4e11-9dc0-7f5266d5f030"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Trajectory generation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Step climbing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Mixed integer programming","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Sensing strategy","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Snake robot","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":"Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy","subitem_title_language":"en"}]},"item_type_id":"10001","owner":"13","path":["6"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-07-30"},"publish_date":"2019-07-30","publish_status":"0","recid":"9312","relation_version_is_last":true,"title":["Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:18:08.707971+00:00"}