{"created":"2023-06-19T10:28:59.322717+00:00","id":8618,"links":{},"metadata":{"_buckets":{"deposit":"43d8dd02-9521-4a42-93f2-d17dc6d0236c"},"_deposit":{"created_by":18,"id":"8618","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"8618"},"status":"published"},"_oai":{"id":"oai:muroran-it.repo.nii.ac.jp:00008618","sets":["216:239","216:359","35:358"]},"author_link":["39396","5812","38751"],"item_77_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2016-03-25","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"29","bibliographicPageStart":"23","bibliographicVolumeNumber":"65","bibliographic_titles":[{"bibliographic_title":"室蘭工業大学紀要","bibliographic_titleLang":"ja"},{"bibliographic_title":"Memoirs of the Muroran Institute of Technology","bibliographic_titleLang":"en"}]}]},"item_77_description_23":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_77_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper addresses a new design of a four-legged mobile robot with a double-spiral mobile architecture. The double-spiral mobile architecture has been proposed with the intention of use for environmental surveys in wetlands, where reed-like plants grow densely. It consists of two pairs of spirals and one mobile robot. Each pair of spirals plays the role of footholds for the mobile robot. By traveling at a higher place from the ground, the robot can avoid strong resistance force from the dense and hard-stemmed plants. In addition, the spirals intermediate between the robots and the muddy ground to avoid sinking. The proposed leg mechanism does not have any vertical movement. It contributes to energy saving in the robot. Also it provides the arbitrary motion of the body platform while the legs grip the spirals tightly. We derive the robot’s kinematics and statics and show the validity of the design mathematically.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_77_description_8":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"特集 : The Papers Presented at the Symposium on Mechanical Engineering, Industrial Engineering, and Robotics 2015 (MIER2015) held at Muroran, Hokkaido, Japan on 29 - 30 May 2015","subitem_description_language":"ja","subitem_description_type":"Other"}]},"item_77_link_5":{"attribute_name":"室蘭工業大学研究者データベースへのリンク","attribute_value_mlt":[{"subitem_link_text":"花島 直彦(HANAJIMA Naohiko)","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html"},{"subitem_link_text":"梶原 秀一(KAJIWARA Hidekazu)","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000059_ja.html"}]},"item_77_publisher_11":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"室蘭工業大学","subitem_publisher_language":"ja"}]},"item_77_rights_19":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2016 室蘭工業大学","subitem_rights_language":"ja"}]},"item_77_source_id_12":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"13442708","subitem_source_identifier_type":"PISSN"}]},"item_77_source_id_14":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11912609","subitem_source_identifier_type":"NCID"}]},"item_77_subject_9":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548","subitem_subject_scheme":"NDC"}]},"item_77_version_type_21":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[{}],"affiliationNames":[{},{}]}],"creatorNames":[{"creatorName":"HANAJIMA, Naohiko","creatorNameLang":"en"},{"creatorName":"花島, 直彦","creatorNameLang":"ja"},{"creatorName":"ハナジマ, ナオヒコ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"LIU, Qunpo","creatorNameLang":"en"},{"creatorName":"劉, 群坡","creatorNameLang":"ja"}],"familyNames":[{},{}],"givenNames":[{},{}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{}],"affiliationNames":[{},{}]}],"creatorNames":[{"creatorName":"KAJIWARA, Hidekazu","creatorNameLang":"en"},{"creatorName":"梶原, 秀一","creatorNameLang":"ja"},{"creatorName":"カジワラ, ヒデカズ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-04-01"}],"displaytype":"detail","filename":"65_23.pdf","filesize":[{"value":"945.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"65_23.pdf","objectType":"fulltext","url":"https://muroran-it.repo.nii.ac.jp/record/8618/files/65_23.pdf"},"version_id":"ae5cd5d2-1ece-43f1-bd0f-a8a830f1080b"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Mobile robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Legged robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Wetland","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Environmental survey","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Robot motion","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":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"A Four-Legged Mobile Robot with Prismatic Joints on Spiral Footholds","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"A Four-Legged Mobile Robot with Prismatic Joints on Spiral Footholds","subitem_title_language":"en"}]},"item_type_id":"77","owner":"18","path":["358","359","239"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2016-03-25"},"publish_date":"2016-03-25","publish_status":"0","recid":"8618","relation_version_is_last":true,"title":["A Four-Legged Mobile Robot with Prismatic Joints on Spiral Footholds"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2024-01-24T00:35:03.246417+00:00"}