{"created":"2023-11-08T05:43:53.372033+00:00","id":2000352,"links":{},"metadata":{"_buckets":{"deposit":"2f749509-9073-4f86-ad69-c61899cc9036"},"_deposit":{"created_by":42,"id":"2000352","owners":[42],"pid":{"revision_id":0,"type":"depid","value":"2000352"},"status":"published"},"_oai":{"id":"oai:kindai.repo.nii.ac.jp:02000352","sets":["14:2667:1697004343623"]},"author_link":[],"item_1693381679919":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"report","resourceuri":"http://purl.org/coar/resource_type/c_93fc"}]},"item_30001_bibliographic_information17":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicNumberOfPages":"4","bibliographic_titles":[{"bibliographic_title":"科学研究費助成事業研究成果報告書 (2022)","bibliographic_titleLang":"ja"}]}]},"item_30001_creator2":{"attribute_name":"研究代表者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"34419","affiliationNameIdentifierScheme":"kakenhi"}],"affiliationNames":[{"affiliationName":"近畿大学","affiliationNameLang":"ja"},{"affiliationName":"Kindai University","affiliationNameLang":"en"}]}],"creatorNames":[{"creatorName":"松谷, 祐希","creatorNameLang":"ja"},{"creatorName":"MATSUTANI, Yuki","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"80757120","nameIdentifierScheme":"e-Rad"}]}]},"item_30001_description8":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"本研究の目的は, 人間の身体構造である筋骨格構造のメカニズムを解析し，筋骨格構造特有のメカニズムと巧みな運動の関係性を明らかにすることである．本研究では，筋内力フィードフォワード制御法における任意ベクトルを利用した手先軌道の整形法を提案し，その有効性をシミュレーション結果より示した．また，プーリモデルと非プーリモデルの特徴を併せ持つ関節構造を提案した．さらに，リンクの物理パラメータを変更可能な受動歩行ロボットを提案した．\n","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"The purpose of this study is to deepen the understanding of the relationship between the mechanism of the musculoskeletal structure and skillful movements by analyzing this mechanism. Herein, an end-point trajectory shaping method using arbitrary vector for a muscular internal force feedforward controller is proposed and its effectiveness is confirmed through simulation. urthermore, a new joint structure is proposed wherein the moment arms are changed according to a joint angle and its effectiveness is confirmed by experiment. Also, a passive walking robot with changeable physical parameters of links is proposed.","subitem_description_language":"en","subitem_description_type":"Abstract"},{"subitem_description":"研究分野：ロボット工学","subitem_description_language":"ja","subitem_description_type":"Other"}]},"item_30001_file22":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","filename":"21K17835seika.pdf","format":"application/pdf","mimetype":"application/pdf","url":{"url":"https://kindai.repo.nii.ac.jp/record/2000352/files/21K17835seika.pdf"},"version_id":"82567d8e-6bf7-4e0e-b236-2809fdbf5fdc"}]},"item_30001_funding_reference15":{"attribute_name":"助成情報","attribute_value_mlt":[{"subitem_award_numbers":{"subitem_award_number":"21K17835","subitem_award_uri":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21K17835/"},"subitem_award_titles":[{"subitem_award_title":"筋骨格構造のメカニズムに基づく運動生成法の構築","subitem_award_title_language":"ja"},{"subitem_award_title":"Motion Producing Method based on the Mechanism of Musculoskeletal Structure","subitem_award_title_language":"en"}],"subitem_funder_names":[{"subitem_funder_name":"独立行政法人日本学術振興会","subitem_funder_name_language":"ja"},{"subitem_funder_name":"Japan Society for the Promotion of Science","subitem_funder_name_language":"en"}]}]},"item_30001_language10":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_30001_subject7":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"筋骨格構造","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"受動歩行","subitem_subject_language":"ja","subitem_subject_scheme":"Other"}]},"item_30001_title0":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"筋骨格構造のメカニズムに基づく運動生成法の構築","subitem_title_language":"ja"},{"subitem_title":"Motion Producing Method based on the Mechanism of Musculoskeletal Structure","subitem_title_language":"en"}]},"item_30001_version_type12":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_title":"筋骨格構造のメカニズムに基づく運動生成法の構築","item_type_id":"40001","owner":"42","path":["1697004343623"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2023-11-08"},"publish_date":"2023-11-08","publish_status":"0","recid":"2000352","relation_version_is_last":true,"title":["筋骨格構造のメカニズムに基づく運動生成法の構築"],"weko_creator_id":"42","weko_shared_id":-1},"updated":"2024-10-23T00:49:26.763997+00:00"}