{"created":"2025-01-19T01:28:53.613830+00:00","updated":"2025-01-19T11:29:07.146099+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00229625","sets":["6504:11436:11438"]},"path":["11438"],"owner":"44499","recid":"229625","title":["二台の四脚ロボット連携による段差上り行動の実装と評価"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-02-16"},"_buckets":{"deposit":"828f1e80-9007-4b96-b5d3-61076898e35f"},"_deposit":{"id":"229625","pid":{"type":"depid","value":"229625","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"二台の四脚ロボット連携による段差上り行動の実装と評価","author_link":["617661","617660","617662"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"二台の四脚ロボット連携による段差上り行動の実装と評価"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ソフトウェア科学・工学","subitem_subject_scheme":"Other"}]},"item_type_id":"22","publish_date":"2023-02-16","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_22_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京工科大"},{"subitem_text_value":"東京工科大"},{"subitem_text_value":"東京工科大"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/229625/files/IPSJ-Z85-2K-02.pdf","label":"IPSJ-Z85-2K-02.pdf"},"date":[{"dateType":"Available","dateValue":"2023-11-17"}],"format":"application/pdf","filename":"IPSJ-Z85-2K-02.pdf","filesize":[{"value":"326.3 kB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"86d5a42d-d7ee-494c-bfb9-b97ee95badbd","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"湯川, 響"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"服部, 聖彦"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松岡, 丈平"}],"nameIdentifiers":[{}]}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_5794","resourcetype":"conference paper"}]},"item_22_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00349328","subitem_source_identifier_type":"NCID"}]},"item_22_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"車輪ロボットに対し,四脚ロボットは脚の自由度を利用して段差や障害物を乗り越えることが可能である.路面状態の悪い自然環境や工事現場などで活躍が期待されている.一方で,移動中の重心が高く重心変化が多いことから転倒の可能性があり,乗り越え可能な段差の高さに制限がある.この課題に対し,本研究は二台の四脚ロボットで連携させることでその行動範囲拡張を目指す.具体的には四脚ロボットのMini pupper二台とロボット開発用フレームワークROSを用い連携させることで,一台では登ることが出来ない段差を連携させて登ることができる段差上り行動の実装と評価をする.","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"190","bibliographic_titles":[{"bibliographic_title":"第85回全国大会講演論文集"}],"bibliographicPageStart":"189","bibliographicIssueDates":{"bibliographicIssueDate":"2023-02-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2023"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":229625,"links":{}}