{"created":"2023-06-19T10:29:10.198047+00:00","id":8878,"links":{},"metadata":{"_buckets":{"deposit":"390b8de6-6462-467a-b8d9-6db61f2d6aa4"},"_deposit":{"created_by":18,"id":"8878","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"8878"},"status":"published"},"_oai":{"id":"oai:muroran-it.repo.nii.ac.jp:00008878","sets":["216:359","46"]},"author_link":["44576","42734","39396","42733"],"item_79_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2000-05-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"520","bibliographicPageStart":"515","bibliographicVolumeNumber":"18","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌","bibliographic_titleLang":"ja"},{"bibliographic_title":"Journal of the Robotics Society of Japan","bibliographic_titleLang":"en"}]}]},"item_79_description_23":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_79_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper discusses a motion control of horizontal bar gymnast robot with two links and one passive joint on the bar. First, we show that the amplitude of the swing of the first link increases with resonance and parametric excitation by swinging the second link periodically. Next, we propose the control method using entrainment to produce each excitation by swinging the second link ‘in phase’ with the motion of the first link. In our method, the control input is consisted of periodic solution of van der Pol's equation inputted the angular velocity of the first link. Finally, we present experimental results that swing up control and continuous giant swings can be realized in the real robot.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_79_link_17":{"attribute_name":"出版者版へのリンク","attribute_value_mlt":[{"subitem_link_text":"10.7210/jrsj.18.515","subitem_link_url":"http://doi.org/10.7210/jrsj.18.515"}]},"item_79_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":"梶原 秀一（KAJIWARA Hidekazu）","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000059_ja.html"}]},"item_79_publisher_11":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会","subitem_publisher_language":"ja"}]},"item_79_relation_15":{"attribute_name":"論文ID（NAID）","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10004733714","subitem_relation_type_select":"NAID"}}]},"item_79_relation_18":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.7210/jrsj.18.515","subitem_relation_type_select":"DOI"}}]},"item_79_relation_22":{"attribute_name":"主となる版","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://www.jstage.jst.go.jp/article/jrsj1983/18/4/18_4_515/_pdf","subitem_relation_type_select":"URI"}}]},"item_79_rights_19":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2000 日本ロボット学会","subitem_rights_language":"ja"}]},"item_79_source_id_12":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"PISSN"}]},"item_79_source_id_14":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_79_subject_9":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548","subitem_subject_scheme":"NDC"}]},"item_79_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 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ユキオ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"松田, 敏彦","creatorNameLang":"ja"},{"creatorName":"MATSUDA, Toshihiko","creatorNameLang":"en"},{"creatorName":"マツダ, トシヒコ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"土谷, 武士","creatorNameLang":"ja"},{"creatorName":"TSUCHIYA, Takeshi","creatorNameLang":"en"},{"creatorName":"ツチヤ, タケシ","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":"2016-04-27"}],"displaytype":"detail","filename":"18_4_515.pdf","filesize":[{"value":"3.6 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"18_4_515.pdf","objectType":"fulltext","url":"https://muroran-it.repo.nii.ac.jp/record/8878/files/18_4_515.pdf"},"version_id":"e919e7b0-47b8-47a3-a319-ec974335333f"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Gymnast Robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Resonance","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Parametric Excitation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Entrainment","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Van der Pol's Equation","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"鉄棒ロボットの数理解析と運動制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"鉄棒ロボットの数理解析と運動制御","subitem_title_language":"ja"},{"subitem_title":"Mathematical Analysis and Motion Control for Horizontal Bar Gymnastic Robot","subitem_title_language":"en"}]},"item_type_id":"79","owner":"18","path":["46","359"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2016-04-27"},"publish_date":"2016-04-27","publish_status":"0","recid":"8878","relation_version_is_last":true,"title":["鉄棒ロボットの数理解析と運動制御"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-11-13T05:29:28.484047+00:00"}