{"created":"2021-03-01T06:16:59.686906+00:00","id":454,"links":{},"metadata":{"_buckets":{"deposit":"f81816f1-2382-4507-bb77-4e53d68454fc"},"_deposit":{"id":"454","owners":[],"pid":{"revision_id":0,"type":"depid","value":"454"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000454","sets":["34:35:36","9:10:14"]},"item_2_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Basic considartion on Pegree of Freedom of, Multi-legged Locomotion Machines"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1984-04","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"150","bibliographicPageStart":"142","bibliographicVolumeNumber":"2","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌"}]}]},"item_2_description_13":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_2_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"All multi-legged locomotion machines that do not need any dynamic balance control can be classified into several levels functionally. The authors define (ⅰ) two dimensional walking, (ⅱ) to maintain the body horizontal on rough terrain, (ⅲ) to keep the absolute height of main body constant as the minimum walking functions of multi-legged locomotion machines. By the way, how many active degrees of freedom are necessary and sufficient to realize the above functions? Althought the consideration of degrees of freedom seems to be fundamental in developing multi-legged locomotion machines, this problem has not yet been studied thoroughly. From this point of view, the active degrees of freedom are examined in this paper using a fourlegged machine which offers the minimum number of legs capable of keeping static stability. Resultantly it is shown that \"six\" is the necessary and sufficient number of active degrees of freedom to realize the above functions.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106584","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Kaneko, Makoto"}]},{"nameIdentifiers":[{"nameIdentifier":"106585","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Abe, Minoru"}]},{"nameIdentifiers":[{"nameIdentifier":"106586","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Tachi, Susumu"}]}]},"item_2_publisher_20":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会"}]},"item_2_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_2_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"ISSN"}]},"item_2_subject_15":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548.3","subitem_subject_scheme":"NDC"}]},"item_2_text_4":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"機械技術研究所"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"金子, 真"}],"nameIdentifiers":[{"nameIdentifier":"106581","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"阿部, 稔"}],"nameIdentifiers":[{"nameIdentifier":"106582","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106583","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":"2017-06-26"}],"displaytype":"detail","filename":"0202B058.pdf","filesize":[{"value":"614.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"0202B058.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/454/files/0202B058.pdf"},"version_id":"74e81c20-f103-4e9b-86c0-3bc6e554e187"}]},"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":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"多足歩行機械の自由度に関する基本的考察","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"多足歩行機械の自由度に関する基本的考察"}]},"item_type_id":"2","owner":"1","path":["14","36"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-03-12"},"publish_date":"2010-03-12","publish_status":"0","recid":"454","relation_version_is_last":true,"title":["多足歩行機械の自由度に関する基本的考察"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:26.198428+00:00"}