{"created":"2023-05-15T11:46:51.819487+00:00","id":7544,"links":{},"metadata":{"_buckets":{"deposit":"5a4a3597-df4f-4e2b-ab80-514418eb8e71"},"_deposit":{"created_by":1,"id":"7544","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7544"},"status":"published"},"_oai":{"id":"oai:kanagawa-u.repo.nii.ac.jp:00007544","sets":["585:586:587:589"]},"author_link":["24105"],"item_3_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2005-11","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"9","bibliographicPageStart":"2","bibliographicVolumeNumber":"28","bibliographic_titles":[{"bibliographic_title":"神奈川大学工学研究所所報"}]}]},"item_3_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper presents a walking pattern generation method for biped walking. There are three walking phases such as a double support, a swing and a contact phase. In the swing phase, a leg motion pattern is produced by using a six order polynomial, while a leg motion pattern is generated by using a quintic polynomial in the contact and double support phase. When a biped humanoid robot dynamically walks on the ground, moments are produced by the motion of the lower-limbs. So, a moment compensation method is also discussed in this paper. Based on the motion of the lower-limbs and ZMP (Zero Moment Point), the motion of the trunk and the waist is calculated to cancel the moments. Through simulation, the effectiveness of the moment compensation methods is verified.","subitem_description_type":"Abstract"}]},"item_3_publisher_33":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"神奈川大学"}]},"item_3_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00043601","subitem_source_identifier_type":"NCID"}]},"item_3_version_type_16":{"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_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Lim, Hun-ok"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-11-20"}],"displaytype":"detail","filename":"kana-3-2-0002.pdf","filesize":[{"value":"2.3 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"kana-3-2-0002.pdf","url":"https://kanagawa-u.repo.nii.ac.jp/record/7544/files/kana-3-2-0002.pdf"},"version_id":"54dcb25b-4008-4fe7-8e10-f3bed5fbc102"}]},"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":"Walking Pattern and Compensatory Body Motion of Biped Humanoid Robot","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Walking Pattern and Compensatory Body Motion of Biped Humanoid Robot"}]},"item_type_id":"3","owner":"1","path":["589"],"pubdate":{"attribute_name":"公開日","attribute_value":"2009-02-23"},"publish_date":"2009-02-23","publish_status":"0","recid":"7544","relation_version_is_last":true,"title":["Walking Pattern and Compensatory Body Motion of Biped Humanoid Robot"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-05-16T08:31:57.291308+00:00"}