{"@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/1390282679663334656.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.3951/sobim.33.57"}},{"identifier":{"@type":"URI","@value":"https://kitami-it.repo.nii.ac.jp/records/7514"}},{"identifier":{"@type":"NDL_BIB_ID","@value":"10214648"}},{"identifier":{"@type":"URI","@value":"http://id.ndl.go.jp/bib/10214648"}},{"identifier":{"@type":"URI","@value":"https://ndlsearch.ndl.go.jp/books/R000000004-I10214648"}},{"identifier":{"@type":"NAID","@value":"110007131528"}},{"identifier":{"@type":"URI","@value":"https://search.jamas.or.jp/link/ui/2009169432"}}],"resourceType":"学術雑誌論文(journal article)","dc:title":[{"@language":"en","@value":"Stabilization of a Biped Quasi Passive Walking Robot via Periodic Input"},{"@language":"ja","@value":"周期入力による二足準受動歩行ロボットの安定化制御"},{"@language":"ja-Kana","@value":"シュウキ ニュウリョク ニ ヨル 2ソク ジュンジュドウ ホコウ ロボット ノ アンテイカ セイギョ"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"This study aims to apply passive walking to the biped robot. We examined the stabilization method of a passive walking robot with three dimensional weight shifts in a frontal and a sagittal plane to resemble a human gait. As a result, it was demonstrated that the passive walking was stabilized when both the robotic motions in a frontal plane and in a sagittal plane were synchronized. Then we analytically examined the control method of the quasi-passive walk in an arbitrary environment utilizing the van der Pol equation. Finally, it was determined that the biped quasi-passive walking robot was able to be controlled by periodic input generated by an oscillator."},{"@language":"ja","@value":"近年，実用化が進められているヒューマノイドの多くはフィードバック閉回路により制御されている．このような制御手法は軌道計画が複雑なうえ，エネルギ効率や任意環境への適応性等に多くの問題を抱えている．これらの問題の解決策として受動歩行が注目されているが，その歩行の安定化理論は未だ明らかにされていない．本研究では，ヒトの歩行解析結果を基にヒトと同様に三次元的な体重移動が可能な足部を有する受動歩行ロボットを実際に設計・製作し，実験的に歩行の安定化条件を検討した．さらに，歩行路性状が変化する任意の環境下においても常に安定した歩容を獲得するため，強制引き込み現象を利用した準受動歩行ロボットをモデル化し，その制御手法について解析的に検討した．"}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410853647346029312","@type":"Researcher","foaf:name":[{"@language":"en","@value":"SUZUKI Soichiro"},{"@language":"ja","@value":"鈴木 聡一郎"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Department of Mechanical Systam Engineering, Kitami Institute of Technology"},{"@language":"ja","@value":"北見工業大学　工学部　機械システム工学科"}]},{"@id":"https://cir.nii.ac.jp/crid/1410001206388082177","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000006670718"}],"foaf:name":[{"@language":"en","@value":"HACHIYA Masayasu"},{"@language":"ja","@value":"蜂谷 正泰"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate school of Kitami Institute of Technology"},{"@language":"ja","@value":"北見工業大学大学院"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"02850885"},{"@type":"NDL_BIB_ID","@value":"000000035104"},{"@type":"ISSN","@value":"02850885"},{"@type":"LISSN","@value":"02850885"},{"@type":"NCID","@value":"AN00334047"}],"prism:publicationName":[{"@language":"en","@value":"Journal of the Society of Biomechanisms"},{"@language":"ja","@value":"バイオメカニズム学会誌"},{"@language":"en","@value":"Journal of the Society of Biomechanisms"},{"@language":"en","@value":"sobim"},{"@language":"ja","@value":"バイオメカニズム学会誌"}],"dc:publisher":[{"@language":"en","@value":"Society of Biomechanisms"},{"@language":"ja","@value":"バイオメカニズム学会"}],"prism:publicationDate":"2009","prism:volume":"33","prism:number":"1","prism:startingPage":"57","prism:endingPage":"63"},"reviewed":"false","dcterms:accessRights":"http://purl.org/coar/access_right/c_abf2","url":[{"@id":"https://kitami-it.repo.nii.ac.jp/records/7514"},{"@id":"http://id.ndl.go.jp/bib/10214648"},{"@id":"https://ndlsearch.ndl.go.jp/books/R000000004-I10214648"},{"@id":"http://id.nii.ac.jp/1450/00007508/"},{"@id":"https://search.jamas.or.jp/link/ui/2009169432"}],"availableAt":"2009","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=Biped%20quasi%20passive%20walk","dc:title":"Biped quasi passive walk"},{"@id":"https://cir.nii.ac.jp/all?q=Stabilization","dc:title":"Stabilization"},{"@id":"https://cir.nii.ac.jp/all?q=Periodic%20input","dc:title":"Periodic input"},{"@id":"https://cir.nii.ac.jp/all?q=Entrainment","dc:title":"Entrainment"},{"@id":"https://cir.nii.ac.jp/all?q=van%20der%20Pol's%20equation","dc:title":"van der Pol's equation"},{"@id":"https://cir.nii.ac.jp/all?q=%E4%BA%8C%E8%B6%B3%E6%BA%96%E5%8F%97%E5%8B%95%E6%AD%A9%E8%A1%8C","dc:title":"二足準受動歩行"},{"@id":"https://cir.nii.ac.jp/all?q=%E5%AE%89%E5%AE%9A%E5%8C%96","dc:title":"安定化"},{"@id":"https://cir.nii.ac.jp/all?q=%E5%91%A8%E6%9C%9F%E5%85%A5%E5%8A%9B","dc:title":"周期入力"},{"@id":"https://cir.nii.ac.jp/all?q=%E5%BC%95%E3%81%8D%E8%BE%BC%E3%81%BF%E7%8F%BE%E8%B1%A1","dc:title":"引き込み現象"},{"@id":"https://cir.nii.ac.jp/all?q=van%20der%20Pol%E6%96%B9%E7%A8%8B%E5%BC%8F","dc:title":"van der Pol方程式"}],"dcterms:subject":[{"subjectScheme":"Other","notation":[{"@value":"二足準受動歩行"}]},{"subjectScheme":"Other","notation":[{"@value":"安定化"}]},{"subjectScheme":"Other","notation":[{"@value":"周期入力"}]},{"subjectScheme":"Other","notation":[{"@value":"引き込み現象"}]},{"subjectScheme":"Other","notation":[{"@value":"van der Pol 方程式"}]},{"subjectScheme":"Other","notation":[{"@value":"Biped quasi passive walk"}]},{"subjectScheme":"Other","notation":[{"@value":"Stabilization"}]},{"subjectScheme":"Other","notation":[{"@value":"Periodic input"}]},{"subjectScheme":"Other","notation":[{"@value":"Entrainment"}]},{"subjectScheme":"Other","notation":[{"@value":"van der Pol's equation"}]}],"relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1362262944494518656","@type":"Article","relationType":["references"],"jpcoar:relatedTitle":[{"@value":"A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001204687296768","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["cites"],"jpcoar:relatedTitle":[{"@language":"en","@value":"Experimental Study on Stabilization of a Three-Dimensional Biped Passive Walking Robot"},{"@language":"ja","@value":"三次元歩行が可能な二足受動歩行ロボットの安定化に関する実験的検討"},{"@language":"ja-Kana","@value":"3ジゲン ホコウ ガ カノウナ 2ソク ジュドウ ホコウ ロボット ノ アンテイカ ニ カンスル ジッケンテキ ケントウ"}]},{"@id":"https://cir.nii.ac.jp/crid/1390001206388082176","@type":"Article","resourceType":"学術雑誌論文(journal article)","relationType":["isReferencedBy","isCitedBy"],"jpcoar:relatedTitle":[{"@language":"ja","@value":"引き込みを利用した周期入力による二足受動歩行ロボットの安定化制御(機械力学,計測,自動制御)"},{"@language":"en","@value":"Stability Control of a Biped Passive Walker by Periodic Input Based on the Frequency Entrainment(Mechanical Systems)"},{"@value":"引き込みを利用した周期入力による二足受動歩行ロボットの安定化制御"},{"@language":"ja-Kana","@value":"ヒキコミ オ リヨウ シタ シュウキ ニュウリョク ニ ヨル ニソク ジュドウ ホコウ ロボット ノ アンテイカ 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