{"created":"2021-03-01T06:44:08.021553+00:00","id":8681,"links":{},"metadata":{"_buckets":{"deposit":"66cacc1d-08cf-4406-858d-b45f5690006c"},"_deposit":{"id":"8681","owners":[],"pid":{"revision_id":0,"type":"depid","value":"8681"},"status":"published"},"_oai":{"id":"oai:tsukuba.repo.nii.ac.jp:00008681","sets":["3:233:244"]},"author_link":["35628"],"item_12_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2005","bibliographicIssueDateType":"Issued"}}]},"item_12_date_granted_46":{"attribute_name":"学位授与年月日","attribute_value_mlt":[{"subitem_dategranted":"2005-03-25"}]},"item_12_degree_grantor_44":{"attribute_name":"学位授与大学","attribute_value_mlt":[{"subitem_degreegrantor":[{"subitem_degreegrantor_language":"ja","subitem_degreegrantor_name":"筑波大学"},{"subitem_degreegrantor_language":"en","subitem_degreegrantor_name":"University of Tsukuba"}],"subitem_degreegrantor_identifier":[{"subitem_degreegrantor_identifier_name":"12102","subitem_degreegrantor_identifier_scheme":"kakenhi"}]}]},"item_12_degree_name_43":{"attribute_name":"取得学位","attribute_value_mlt":[{"subitem_degreename":"博士（工学） "},{"subitem_degreename":"Doctor of Philosophy in Engineering"}]},"item_12_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Robot movement generation requires optimization treatment. However, the need for off-line computation makes it difficult to apply traditional optimization techniques to real-time robot control. An important goal is to develop a new algorithm that allows for real-time optimization. The most likely candidate which is called as Receding Horizon Control or Model Predictive Control algorithms have yet to be widely applied to real-time robot control environments. This thesis uses a legged robots as a control object, one that possesses unstable dynamics and requires specific balance conditions, with the Zero Moment Point balance condition being a particulary important challenge. Equal constraint, proposed in this thesis as a means for meeting such conditions during optimization formulation, overcomes Zero Moment Point problems. The state variable inequality constraint is a complex challenge because the optimal path must tangentially enter a constrained arc, and one or more time constraint derivatives must equal zero at all entry points. A second challenge addressed in this thesis is the description of a legged robot's swing leg condition as a state variable inequality. Both the nonlinear swing leg and Zero Moment Point balance conditions are involved Receding Horizon Control formulation.  ･･･","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_12_description_45":{"attribute_name":"学位授与年度","attribute_value_mlt":[{"subitem_description":"2004","subitem_description_type":"Other"}]},"item_12_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"Includes bibliographical references","subitem_description_language":"en","subitem_description_type":"Other"},{"subitem_description":"Includes supplementary treatises","subitem_description_language":"en","subitem_description_type":"Other"}]},"item_12_dissertation_number_47":{"attribute_name":"報告番号","attribute_value_mlt":[{"subitem_dissertationnumber":"甲第3699号"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Takeuchi, Hiroki","creatorNameLang":"en"},{"creatorName":"竹内, 裕喜","creatorNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"35628","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":"2013-12-18"}],"displaytype":"detail","filename":"A3699.pdf","filesize":[{"value":"1.6 MB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"objectType":"abstract","url":"https://tsukuba.repo.nii.ac.jp/record/8681/files/A3699.pdf"},"version_id":"5a288d69-5c50-4152-951f-5252dd08bfc3"},{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2013-12-18"}],"displaytype":"detail","filename":"1.pdf","filesize":[{"value":"24.0 MB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"objectType":"fulltext","url":"https://tsukuba.repo.nii.ac.jp/record/8681/files/1.pdf"},"version_id":"9ddc98ca-ad0c-452b-8bab-76dc7273961f"}]},"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":"doctoral thesis","resourceuri":"http://purl.org/coar/resource_type/c_db06"}]},"item_title":"Real-time generation for optimal robot motion","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Real-time generation for optimal robot motion","subitem_title_language":"en"}]},"item_type_id":"12","owner":"1","path":["244"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2007-07-25"},"publish_date":"2007-07-25","publish_status":"0","recid":"8681","relation_version_is_last":true,"title":["Real-time generation for optimal robot motion"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-05-01T01:48:16.896112+00:00"}