{"created":"2023-06-20T16:50:00.216979+00:00","id":22393,"links":{},"metadata":{"_buckets":{"deposit":"5b552a5a-c139-46b2-b287-2b540941b647"},"_deposit":{"created_by":3,"id":"22393","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"22393"},"status":"published"},"_oai":{"id":"oai:kindai.repo.nii.ac.jp:00022393","sets":["14:2667:4710"]},"author_link":["43327"],"control_number":"22393","item_8_biblio_info_21":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2021","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"4","bibliographicPageStart":"1","bibliographic_titles":[{"bibliographic_title":"科学研究費助成事業研究成果報告書 (2020)"}]}]},"item_8_description_25":{"attribute_name":"リンクURL","attribute_value_mlt":[{"subitem_description":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-19K20378/","subitem_description_type":"Other"}]},"item_8_description_33":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"研究成果の概要（和文）：本研究の目的は，脊椎動物の筋骨格構造が巧みな運動の実現に，どのように貢献しているかを明らかにすることである．まず，筋骨格型の受動歩行ロボットのモデルを構築し，筋骨格モデルを対象に筋内力を利用した歩行生成法を提案した．数値シミュレーションの結果より，従来のリンクモデルでは歩行の継続が難しい小さい傾斜角の斜面でも，筋骨格モデルは歩行を継続することができることを示した．次に，筋骨格アームを対象に関節剛性に基づいた筋内力の決定法を提案し，目標位置における手先剛性を維持しつつ，目標位置までの運動の応答性を変化させることができることを示した．研究成果の概要（英文）：The purpose of this study is to clarify that the musculoskeletal structure contributes to skillful movements. In this study, a model of a musculoskeletal-like passive walking robot is constructed, and a walking generation method using the muscular internal force is proposed. The proposed method enables the robot to walk on a slope with a small inclined angle that the link model finds difficult to walk. Further, a method to determine the muscular internal force based on joint stiffness for a musculoskeletal arm is proposed. The proposed method can independently control the response and stiffness at a desired position.","subitem_description_type":"Abstract"}]},"item_8_description_36":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"研究種目：若手研究;  研究期間：2019～2020;   課題番号：19K20378;   研究分野：ロボット工学;   科研費の分科・細目：","subitem_description_type":"Other"}]},"item_8_description_37":{"attribute_name":"資源タイプ(WEKO2)","attribute_value_mlt":[{"subitem_description":"Research Paper","subitem_description_type":"Other"}]},"item_8_description_41":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_8_publisher_14":{"attribute_name":"出版者 名前","attribute_value_mlt":[{"subitem_publisher":"近畿大学"}]},"item_8_text_10":{"attribute_name":"著者 役割","attribute_value_mlt":[{"subitem_text_value":"研究代表者"}]},"item_8_text_7":{"attribute_name":"著者(英)","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Matsutani, Yuki"}]},"item_8_text_8":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"近畿大学工学部; 講師"}]},"item_8_text_9":{"attribute_name":"著者所属(翻訳)","attribute_value_mlt":[{"subitem_text_value":"Kindai University"}]},"item_8_version_type_12":{"attribute_name":"版","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_be7fb7dd8ff6fe43","subitem_version_type":"NA"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"松谷, 祐希"},{"creatorName":"マツタニ, ユウキ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2022-03-07"}],"displaytype":"detail","filename":"19K20378seika.pdf","filesize":[{"value":"310.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"19K20378seika.pdf","url":"https://kindai.repo.nii.ac.jp/record/22393/files/19K20378seika.pdf"},"version_id":"a9f1f1fa-ec2b-4ab0-bd49-2965937d7370"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"筋骨格構造","subitem_subject_scheme":"Other"},{"subitem_subject":"受動歩行","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":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_title":"筋骨格構造の運動メカニズムに基づいた筋骨格型ロボットの開発","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"筋骨格構造の運動メカニズムに基づいた筋骨格型ロボットの開発","subitem_title_language":"ja"},{"subitem_title":"Development of Musculoskeletal-like Robots Based on the Motion Mechanisms of Musculoskeletal Structures","subitem_title_language":"en"}]},"item_type_id":"8","owner":"3","path":["4710"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2022-03-07"},"publish_date":"2022-03-07","publish_status":"0","recid":"22393","relation_version_is_last":true,"title":["筋骨格構造の運動メカニズムに基づいた筋骨格型ロボットの開発"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-08-13T07:29:38.719301+00:00"}