{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1050857136478490240.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"HDL","@value":"https://hdl.handle.net/20.500.14094/0100477521"}},{"identifier":{"@type":"DOI","@value":"10.1080/01691864.2022.2120774"}},{"identifier":{"@type":"URI","@value":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2022.2120774"}}],"resourceType":"学術雑誌論文(journal article)","dc:title":[{"@language":"en","@value":"A continuous-time walking pattern generator for realizing seamless transition between flat-contact and heel-to-toe walking"}],"dc:language":"en","description":[{"type":"Abstract","notation":[{"@language":"en","@value":"A planning algorithm that can generate continuous-time walking patterns including the seamless transition between flat-contact and heel-to-toe walking gaits is proposed. The planner makes use of the closed-form solution of a modified linear inverted pendulum mode which includes the ZMP and the weight ratio of each foot explicitly in its dynamics. The heel-to-toe movement of each foot is directly parameterized by the ZMP, and therefore consistency between the foot movement and the low-dimensional dynamics is ensured. In simulations with a 32 DoF model of a life-sized humanoid robot, fast human-like walking at the maximum speed of 4.6 km/h was achieved."}]}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1420282801205283456","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"10547433"},{"@type":"NRID","@value":"1000010547433"},{"@type":"NRID","@value":"9000412099500"},{"@type":"NRID","@value":"9000259842128"},{"@type":"NRID","@value":"9000309157732"},{"@type":"NRID","@value":"9000380481566"},{"@type":"NRID","@value":"9000375889223"},{"@type":"NRID","@value":"9000291278269"},{"@type":"NRID","@value":"9000018745999"},{"@type":"NRID","@value":"9000242631403"},{"@type":"NRID","@value":"9000242631507"},{"@type":"NRID","@value":"9000308053093"},{"@type":"NRID","@value":"9000412107350"},{"@type":"NRID","@value":"9000380474092"},{"@type":"NRID","@value":"9000415163461"},{"@type":"NRID","@value":"9000331421357"},{"@type":"NRID","@value":"9000291595044"},{"@type":"NRID","@value":"9000403600265"},{"@type":"NRID","@value":"9000308052799"},{"@type":"NRID","@value":"9000309157124"},{"@type":"NRID","@value":"9000322100376"},{"@type":"NRID","@value":"9000006193103"},{"@type":"NRID","@value":"9000107359877"},{"@type":"NRID","@value":"9000411042020"},{"@type":"NRID","@value":"9000242631341"},{"@type":"NRID","@value":"9000258239974"},{"@type":"NRID","@value":"9000331421941"},{"@type":"NRID","@value":"9000259340187"},{"@type":"NRID","@value":"9000313614803"},{"@type":"NRID","@value":"9000018432008"},{"@type":"NRID","@value":"9000309165040"},{"@type":"NRID","@value":"9000403158116"},{"@type":"NRID","@value":"9000308053726"},{"@type":"NRID","@value":"9000350623447"},{"@type":"NRID","@value":"9000380475370"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/read0145317"}],"foaf:name":[{"@language":"en","@value":"Tazaki, Yuichi"},{"@language":"ja","@value":"田﨑, 勇一"},{"@language":"ja-Kana","@value":"タザキ, ユウイチ"}]},{"@id":"https://cir.nii.ac.jp/crid/1070857136478490241","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Hanasaki, Satomi"}]},{"@id":"https://cir.nii.ac.jp/crid/1070857136478490240","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Yukizaki, Soh"}]},{"@id":"https://cir.nii.ac.jp/crid/1070857136478490243","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Mitazono, Yugo"}]},{"@id":"https://cir.nii.ac.jp/crid/1070857136478490113","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Nagano, Hikaru"},{"@language":"ja","@value":"永野, 光"},{"@language":"ja-Kana","@value":"ナガノ, ヒカル"}]},{"@id":"https://cir.nii.ac.jp/crid/1070857136478490112","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Yokokohji, Yasuyoshi"},{"@language":"ja","@value":"横小路, 泰義"},{"@language":"ja-Kana","@value":"ヨココウジ, ヤスヨシ"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"01691864"},{"@type":"EISSN","@value":"15685535"}],"prism:publicationName":[{"@language":"en","@value":"Advanced Robotics"}],"dc:publisher":[{"@value":"Taylor & Francis"}],"prism:publicationDate":"2023-03-04","prism:volume":"37","prism:number":"5","prism:startingPage":"316","prism:endingPage":"328"},"reviewed":"false","dcterms:accessRights":"http://purl.org/coar/access_right/c_abf2","dc:rights":["© 2022 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group","This is an Open Access article distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives License (http://creativecommons.org/licenses/by-nc-nd/4.0/), which permits non-commercial re-use, distribution, and reproduction in any medium, provided the original work is properly cited, and is not altered, transformed, or built upon in any way."],"url":[{"@id":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2022.2120774"}],"availableAt":"2022-11-21","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=Humanoid%20robot","dc:title":"Humanoid robot"},{"@id":"https://cir.nii.ac.jp/all?q=motion%20planning","dc:title":"motion planning"},{"@id":"https://cir.nii.ac.jp/all?q=walking%20pattern%20generation","dc:title":"walking pattern generation"},{"@id":"https://cir.nii.ac.jp/all?q=human-like%20walking","dc:title":"human-like walking"}],"dcterms:subject":[{"subjectScheme":"Other","notation":[{"@language":"en","@value":"Humanoid robot"}]},{"subjectScheme":"Other","notation":[{"@language":"en","@value":"motion planning"}]},{"subjectScheme":"Other","notation":[{"@language":"en","@value":"walking pattern generation"}]},{"subjectScheme":"Other","notation":[{"@language":"en","@value":"human-like walking"}]}],"project":[{"@id":"https://cir.nii.ac.jp/crid/1040569382220220288","@type":"Project","projectIdentifier":[{"@type":"KAKEN","@value":"21H03521"},{"@type":"JGN","@value":"JP21H03521"},{"@type":"URI","@value":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21H03521/"}],"notation":[{"@language":"ja","@value":"人型ロボットの即応的接触運動生成の理論構築と実機検証"},{"@language":"en","@value":"Responsive contact motion generation for humanoid robots"}]}],"relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1360017285987728896","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Knee-stretched walking with toe-off and heel-strike for a position-controlled humanoid robot based on model predictive control"}]},{"@id":"https://cir.nii.ac.jp/crid/1360017286859630976","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation"}]},{"@id":"https://cir.nii.ac.jp/crid/1360017288154510464","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1360580235005586176","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Fast bipedal walk using large strides by modulating hip posture and toe-heel motion"}]},{"@id":"https://cir.nii.ac.jp/crid/1360855568997315712","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Human-like walking with toe supporting for humanoids"}]},{"@id":"https://cir.nii.ac.jp/crid/1360855569038441728","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Development of life-sized humanoid robot platform with robustness for falling down, long time working and error occurrence"}]},{"@id":"https://cir.nii.ac.jp/crid/1360855571159156864","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Real time motion generation and control for biped robot -2<sup>nd</sup> report: Running gait pattern generation-"}]},{"@id":"https://cir.nii.ac.jp/crid/1360861711226433408","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Effects of toe-off and heel-off motions on gait performance of biped robots"}]},{"@id":"https://cir.nii.ac.jp/crid/1360861711226608896","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum"}]},{"@id":"https://cir.nii.ac.jp/crid/1360861714470372992","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Dynamic heel-strike toe-off walking controller for full-size modular humanoid robots"}]},{"@id":"https://cir.nii.ac.jp/crid/1361137044944079232","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Planning walking patterns for a biped robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1361418521435900160","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Natural ZMP Trajectories for Biped Robot Reference Generation"}]},{"@id":"https://cir.nii.ac.jp/crid/1362544420185210752","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Dynamically consistent motion design of a humanoid robot even at the limit of kinematics"}]},{"@id":"https://cir.nii.ac.jp/crid/1363388843318920064","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1363670320060417792","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Fast running experiments involving a humanoid robot"}]},{"@id":"https://cir.nii.ac.jp/crid/1363951795070536832","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"Walk this way: To be useful around people, robots need to learn how to move like we do"}]}],"dataSourceIdentifier":[{"@type":"IRDB","@value":"oai:irdb.nii.ac.jp:01257:0005632399"},{"@type":"CROSSREF","@value":"10.1080/01691864.2022.2120774"},{"@type":"KAKEN","@value":"PRODUCT-24458039"},{"@type":"OPENAIRE","@value":"doi_dedup___::d5d2efd6debd79547292bca6af223e2f"}]}