{"updated":"2025-01-19T09:03:21.718169+00:00","links":{},"created":"2025-01-19T01:39:18.474809+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00236956","sets":["6504:11678:11684"]},"path":["11684"],"owner":"44499","recid":"236956","title":["脊椎型腱駆動モジュールの協調による姿勢制御"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-03-01"},"_buckets":{"deposit":"2bbe4631-d6f2-49dc-bbe0-3f3a99cfe062"},"_deposit":{"id":"236956","pid":{"type":"depid","value":"236956","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"脊椎型腱駆動モジュールの協調による姿勢制御","author_link":["647889","647890"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"脊椎型腱駆動モジュールの協調による姿勢制御"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"コンピュータと人間社会","subitem_subject_scheme":"Other"}]},"item_type_id":"22","publish_date":"2024-03-01","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":"神奈川工科大"},{"subitem_text_value":"神奈川工科大"}]},"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/236956/files/IPSJ-Z86-5ZJ-07.pdf","label":"IPSJ-Z86-5ZJ-07.pdf"},"date":[{"dateType":"Available","dateValue":"2024-07-04"}],"format":"application/pdf","filename":"IPSJ-Z86-5ZJ-07.pdf","filesize":[{"value":"1.1 MB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"2b0842fb-8f35-4acd-8c2d-d83a6990945f","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"須藤, 陸"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"三枝, 亮"}],"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":"脊椎には身体の支持，可動域の確保，中枢神経の保護などの役割があり，脊椎動物はこれらの性質を活かして環境に適応している．脊椎構造をもつロボットの開発事例ではこれまでに人型，4脚型，サンショウウオ型などが報告されている．しかしながら，これらの研究では生体の模倣として脊椎が実現されており，椎骨の繰り返し構造が十分に活用されていない．本研究では脊椎構造のモジュール化を行い，様々な形態へ再構成可能な脊椎ロボットを提案する．前研究では単一の腱駆動モジュールの構造設計と姿勢制御について報告したが，本稿では複数のモジュールを組み合わせた場合の協調手法とそれによる脊椎ロボットの姿勢制御について報告する．","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"694","bibliographic_titles":[{"bibliographic_title":"第86回全国大会講演論文集"}],"bibliographicPageStart":"693","bibliographicIssueDates":{"bibliographicIssueDate":"2024-03-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2024"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":236956}