{"@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/1390282680914280320.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.1299/jsmermd.2013._2a2-p13_1"}},{"identifier":{"@type":"URI","@value":"https://www.jstage.jst.go.jp/article/jsmermd/2013/0/2013__2A2-P13_1/_pdf"}},{"identifier":{"@type":"NAID","@value":"110009963357"}}],"dc:title":[{"@language":"ja","@value":"2A2-P13 1つのモータで階段の昇降を実現する機構のトルク負荷と効率の検討(特殊移動ロボット(2))"},{"@language":"en","@value":"2A2-P13 Investigation of torque and efficiency about a stair climbing mechanism that equips only one motor(Mobile Robot with Special Mechanism (2))"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"This paper describes a new mechanism that will realize a stair-climbing robot within small size. The mechanism was named \"SMART\" after the concept of this mechanism, \"Simple Mechanism Adaptive for Rough Terrain\". Some statical conditions to realize a low height mechanism that is driven by only one motor were derived. The prototype robot that equips a SMART mechanism had been designed and manufactured actually. Experimental results show that the estimated output torque is close to the measured torque. This paper describes the result of analysis of the mechanical efficiency."}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410001204730385024","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000003724547"},{"@type":"NRID","@value":"9000409902794"},{"@type":"NRID","@value":"9000408635332"},{"@type":"NRID","@value":"9000001768420"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/j-m-hirasawa-lab"}],"foaf:name":[{"@language":"ja","@value":"平澤 順治"},{"@language":"en","@value":"HIRASAWA Junji"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Ibaraki College of Technology"},{"@language":"ja","@value":"茨城高専"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"24243124"}],"prism:publicationName":[{"@language":"ja","@value":"ロボティクス・メカトロニクス講演会講演概要集"},{"@language":"en","@value":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)"},{"@language":"en","@value":"Robomech"}],"dc:publisher":[{"@language":"en","@value":"The Japan Society of Mechanical Engineers"},{"@language":"ja","@value":"一般社団法人 日本機械学会"}],"prism:publicationDate":"2013","prism:volume":"2013","prism:number":"0","prism:startingPage":"_2A2-P13_1","prism:endingPage":"_2A2-P13_4"},"reviewed":"false","url":[{"@id":"https://www.jstage.jst.go.jp/article/jsmermd/2013/0/2013__2A2-P13_1/_pdf"}],"availableAt":"2013","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=Mobile%20robot","dc:title":"Mobile robot"},{"@id":"https://cir.nii.ac.jp/all?q=Stair%20climbing","dc:title":"Stair climbing"},{"@id":"https://cir.nii.ac.jp/all?q=Real%20robot","dc:title":"Real robot"},{"@id":"https://cir.nii.ac.jp/all?q=Mechanical%20efficiency","dc:title":"Mechanical efficiency"}],"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)"}]}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:2002629051"},{"@type":"CROSSREF","@value":"10.1299/jsmermd.2013._2a2-p13_1"},{"@type":"CIA","@value":"110009963357"},{"@type":"CROSSREF","@value":"10.1299/transjsme.15-00357_references_DOI_8LQA33EvGk08m1IWyrjnVYob0bz"}]}