{"created":"2023-07-25T10:05:34.836995+00:00","id":579,"links":{},"metadata":{"_buckets":{"deposit":"6541d82d-3cc8-4c97-adf0-58b70aa250b1"},"_deposit":{"created_by":2,"id":"579","owners":[2],"pid":{"revision_id":0,"type":"depid","value":"579"},"status":"published"},"_oai":{"id":"oai:tsuyama-nit.repo.nii.ac.jp:00000579","sets":["2:5:49"]},"author_link":["6271","6269","6268","6270"],"item_10002_biblio_info_25":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2002-01-28","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"13","bibliographicPageStart":"7","bibliographicVolumeNumber":"43","bibliographic_titles":[{"bibliographic_title":"津山工業高等専門学校紀要"},{"bibliographic_title":"Bulletin of Tsuyama National College of Technology","bibliographic_titleLang":"en"}]}]},"item_10002_description_19":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_description":"publisher","subitem_description_type":"Other"}]},"item_10002_description_6":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Studies on transportation with moving robot have been performed in recent year. In case of high stature robot, it is feared to fall down when the robot accepts the object. Therefore, the unstable robot has to maintain its posture by control. For the study of posture control, we take up the inverted pendulum robot as the representative unstable robot. The robot consists of an inverted pendulum type body and two coaxial parallel wheels. This paper describes the controllability of the experimental robot manufactured for the study and new simulation method with computational mechanics program. The posture of the experimental robot is regulated by the state feedback control. And it is evident that the presented simulation method can deal with the slip between the wheel and floor. So, this simulation is very useful in investigating the posture control scheme.","subitem_description_type":"Abstract"}]},"item_10002_full_name_4":{"attribute_name":"著者（別表記）","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"6270","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Yoshitomi, Hideki"}]},{"nameIdentifiers":[{"nameIdentifier":"6271","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Anno, Satoshi"}]}]},"item_10002_publisher_9":{"attribute_name":"出版者（別表記）","attribute_value_mlt":[{"subitem_publisher":"National Institute of Technology, Tsuyama College"}]},"item_10002_source_id_10":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0287-7066","subitem_source_identifier_type":"ISSN"}]},"item_10002_source_id_12":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00149351","subitem_source_identifier_type":"NCID"}]},"item_10002_subject_20":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"540","subitem_subject_scheme":"NDC"}]},"item_10002_text_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_text_value":"津山工業高等専門学校"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"吉富, 秀樹"}],"nameIdentifiers":[{"nameIdentifier":"6268","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"阿武, 里志"}],"nameIdentifiers":[{"nameIdentifier":"6269","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2002-01-28"}],"displaytype":"detail","filename":"津山工業高等専門学校紀要_43-2.pdf","filesize":[{"value":"2.5 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"津山工業高等専門学校紀要_43-2.pdf","url":"https://tsuyama-nit.repo.nii.ac.jp/record/579/files/津山工業高等専門学校紀要_43-2.pdf"},"version_id":"80dff342-335d-4f29-a6c3-efaf0a9ea2b8"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Moving Robot","subitem_subject_scheme":"Other"},{"subitem_subject":"Inverted Pendulum","subitem_subject_scheme":"Other"},{"subitem_subject":"Posture Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Simulation","subitem_subject_scheme":"Other"},{"subitem_subject":"Computational Mechanics","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":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"構造的に不安定なロボットの姿勢制御　－機構解析ソフトウェアを利用したシミュレーションと制御実験－","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"構造的に不安定なロボットの姿勢制御　－機構解析ソフトウェアを利用したシミュレーションと制御実験－"},{"subitem_title":"Posture Control of a Mechanically Unstable Robot -Simulation with Computational Mechanics Program and Control Experiment-","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"2","path":["49"],"pubdate":{"attribute_name":"公開日","attribute_value":"2002-01-28"},"publish_date":"2002-01-28","publish_status":"0","recid":"579","relation_version_is_last":true,"title":["構造的に不安定なロボットの姿勢制御　－機構解析ソフトウェアを利用したシミュレーションと制御実験－"],"weko_creator_id":"2","weko_shared_id":2},"updated":"2023-07-25T10:29:47.214300+00:00"}