WEKO3
アイテム
{"_buckets": {"deposit": "cd3f5ee1-460b-4b80-97c3-99a721e2cea5"}, "_deposit": {"created_by": 27, "id": "1057", "owners": [27], "pid": {"revision_id": 0, "type": "depid", "value": "1057"}, "status": "published"}, "_oai": {"id": "oai:oist.repo.nii.ac.jp:00001057", "sets": ["78"]}, "author_link": ["5832", "5829", "5831", "5830", "5828"], "item_10001_biblio_info_7": {"attribute_name": "Bibliographic Information", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2017-10-24", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "2", "bibliographicPageEnd": "300", "bibliographicPageStart": "291", "bibliographicVolumeNumber": "91", "bibliographic_titles": [{}, {"bibliographic_title": "Journal of Intelligent \u0026 Robotic Systems", "bibliographic_titleLang": "en"}]}]}, "item_10001_creator_3": {"attribute_name": "Author", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Tatsch, Christopher"}], "nameIdentifiers": [{"nameIdentifier": "5828", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Ahmadi, Ahmadreza"}], "nameIdentifiers": [{"nameIdentifier": "5829", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Bottega, Fabrício"}], "nameIdentifiers": [{"nameIdentifier": "5830", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Tani, Jun"}], "nameIdentifiers": [{"nameIdentifier": "5831", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "da Silva Guerra, Rodrigo"}], "nameIdentifiers": [{"nameIdentifier": "5832", "nameIdentifierScheme": "WEKO"}]}]}, "item_10001_description_5": {"attribute_name": "Abstract", "attribute_value_mlt": [{"subitem_description": "We introduce Dimitri, an open-software \u0026 open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot interaction research, force-informed object handling and intelligent environment discovery. Our main innovation is in the design of a robust full-body biped humanoid robot equipped with very low-cost polyurethane torsional spring fixed to traditional servo motors and a circuit to measure angular displacement, transforming the system into a series elastic actuator (SEA). In order to illustrate the robot\u0027s qualities in the field of machine learning applied to robotics and manipulation, a multiple timescale recurrent neural network (MTRNN) is implemented, allowing the robot to replicate combined movement sequences earlier taught via interactive demonstration.", "subitem_description_type": "Other"}]}, "item_10001_publisher_8": {"attribute_name": "Publisher", "attribute_value_mlt": [{"subitem_publisher": "Springer Netherlands"}]}, "item_10001_relation_14": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "info:doi/10.1007/s10846-017-0727-y", "subitem_relation_type_select": "DOI"}}]}, "item_10001_relation_17": {"attribute_name": "Related site", "attribute_value_mlt": [{"subitem_relation_type_id": {"subitem_relation_type_id_text": "https://link.springer.com/article/10.1007/s10846-017-0727-y", "subitem_relation_type_select": "URI"}}]}, "item_10001_rights_15": {"attribute_name": "Rights", "attribute_value_mlt": [{"subitem_rights": "© 2017 Springer Science+Business Media B.V."}, {"subitem_rights": "This is a post-peer-review, pre-copyedit version of an article published in Journal of Intelligent \u0026 Robotic Systems. The final authenticated version is available online at: http://dx.doi.org/10.1007/s10846-017-0727-y"}]}, "item_10001_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "0921-0296", "subitem_source_identifier_type": "ISSN"}, {"subitem_source_identifier": "1573-0409", "subitem_source_identifier_type": "ISSN"}]}, "item_10001_version_type_20": {"attribute_name": "Author\u0027s flag", "attribute_value_mlt": [{"subitem_version_resource": "http://purl.org/coar/version/c_ab4af688f83e57aa", "subitem_version_type": "AM"}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2019-08-13"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "Dimitri_JINT2017_Rev3 (1).pdf", "filesize": [{"value": "16.3 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 16300000.0, "url": {"label": "Dimitri_JINT2017_Rev3 (1)", "url": "https://oist.repo.nii.ac.jp/record/1057/files/Dimitri_JINT2017_Rev3 (1).pdf"}, "version_id": "dc8f2149-3e7b-48c1-8fd8-1f2089b10709"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "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": "Dimitri: an Open-Source Humanoid Robot with Compliant Joint", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Dimitri: an Open-Source Humanoid Robot with Compliant Joint", "subitem_title_language": "en"}]}, "item_type_id": "10001", "owner": "27", "path": ["78"], "permalink_uri": "https://oist.repo.nii.ac.jp/records/1057", "pubdate": {"attribute_name": "公開日", "attribute_value": "2019-08-13"}, "publish_date": "2019-08-13", "publish_status": "0", "recid": "1057", "relation": {}, "relation_version_is_last": true, "title": ["Dimitri: an Open-Source Humanoid Robot with Compliant Joint"], "weko_shared_id": 27}
Dimitri: an Open-Source Humanoid Robot with Compliant Joint
https://oist.repo.nii.ac.jp/records/1057
https://oist.repo.nii.ac.jp/records/10575e390f61-8673-4c56-848c-1b784c9d1f29
名前 / ファイル | ライセンス | アクション |
---|---|---|
Dimitri_JINT2017_Rev3 (1) (16.3 MB)
|
|
Item type | 学術雑誌論文 / Journal Article(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2019-08-13 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Dimitri: an Open-Source Humanoid Robot with Compliant Joint | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者(英) |
Tatsch, Christopher
× Tatsch, Christopher× Ahmadi, Ahmadreza× Bottega, Fabrício× Tani, Jun× da Silva Guerra, Rodrigo |
|||||
書誌情報 |
en : Journal of Intelligent & Robotic Systems 巻 91, 号 2, p. 291-300, 発行日 2017-10-24 |
|||||
抄録 | ||||||
内容記述タイプ | Other | |||||
内容記述 | We introduce Dimitri, an open-software & open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot interaction research, force-informed object handling and intelligent environment discovery. Our main innovation is in the design of a robust full-body biped humanoid robot equipped with very low-cost polyurethane torsional spring fixed to traditional servo motors and a circuit to measure angular displacement, transforming the system into a series elastic actuator (SEA). In order to illustrate the robot's qualities in the field of machine learning applied to robotics and manipulation, a multiple timescale recurrent neural network (MTRNN) is implemented, allowing the robot to replicate combined movement sequences earlier taught via interactive demonstration. | |||||
出版者 | ||||||
出版者 | Springer Netherlands | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0921-0296 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1573-0409 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1007/s10846-017-0727-y | |||||
権利 | ||||||
権利情報 | © 2017 Springer Science+Business Media B.V. | |||||
権利 | ||||||
権利情報 | This is a post-peer-review, pre-copyedit version of an article published in Journal of Intelligent & Robotic Systems. The final authenticated version is available online at: http://dx.doi.org/10.1007/s10846-017-0727-y | |||||
関連サイト | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://link.springer.com/article/10.1007/s10846-017-0727-y | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |