{"@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/1363670320486291328.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.20965/jrm.2009.p0012"}},{"identifier":{"@type":"URI","@value":"https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT002100010002"}}],"dc:title":[{"@value":"Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait)"}],"description":[{"type":"abstract","notation":[{"@value":"<jats:p>A leg-wheel robot has mechanically separated four legs and two wheels,  and it performs high mobility and stability on rough terrains. The adaptive gait  for large rough terrains of the leg-wheel robot is composed of three gait  strategies. In this paper, the step-down gait, which is one part of the  adaptive gait, is described.   The point of the flow of the step-down gait is described. When the robot approaches a downward step, a forefoot touches the  surface deeply. It forecasts the existence of the downward step by the  information on the forefoot's touch point. After that, the robot does the step  edge searching operation. This searching operation is the point for going down  the step, since the robot fell under the step if it has walked without knowing  the step. When the body goes down the step a little, the load sharing ratio of  legs increases so that the load of the body rests upon legs. Therefore, the  robot finds the edge of it, and it changes footsteps for preparation of going  down the step. After the preparation, it can lower the body from the step  supported by all legs and wheels. To lower the body, the following items are  needed similar to the case of an upward step: 1. Acquisition of target value  of lowering the body. 2. Correspondence to difference between target depth and  actual depth.</jats:p>\n\t\t\t<jats:p> This paper is the full translation from the transactions of  JSME Vol.72, No.721.</jats:p>"}]}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1383670320486291329","@type":"Researcher","foaf:name":[{"@value":"Shuro Nakajima"}]},{"@id":"https://cir.nii.ac.jp/crid/1383670320486291328","@type":"Researcher","foaf:name":[{"@value":"Eiji Nakano"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"18838049"},{"@type":"PISSN","@value":"09153942"}],"prism:publicationName":[{"@value":"Journal of Robotics and Mechatronics"}],"dc:publisher":[{"@value":"Fuji Technology Press Ltd."}],"prism:publicationDate":"2009-02-20","prism:volume":"21","prism:number":"1","prism:startingPage":"12","prism:endingPage":"19"},"reviewed":"false","dcterms:accessRights":"http://purl.org/coar/access_right/c_abf2","url":[{"@id":"https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT002100010002"}],"createdAt":"2016-04-14","modifiedAt":"2017-06-25","relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1390001205516622336","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"受動クローラによる階段昇降機構の開発（回転角度制限の解析と試作機の性能限界）"},{"@language":"en","@value":"Development of stair-climbing mechanism with passive crawlers (Analysis of limitation for crawler rotation angle and test vehicle performance)"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001288150488960","@type":"Article","relationType":["isReferencedBy"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Parameter Study of a Step-Climbing Machine for Heavy Load Carriers"}]}],"dataSourceIdentifier":[{"@type":"CROSSREF","@value":"10.20965/jrm.2009.p0012"},{"@type":"OPENAIRE","@value":"doi_dedup___::de4e2cb7d53ec99776b6cb11c985d385"},{"@type":"CROSSREF","@value":"10.20965/jrm.2014.p0341_references_DOI_O5azVkKiDLLR3DKLcU63GbCzPab"},{"@type":"CROSSREF","@value":"10.1299/transjsme.15-00357_references_DOI_O5azVkKiDLLR3DKLcU63GbCzPab"}]}