{"created":"2023-06-26T11:00:33.266156+00:00","id":1057,"links":{},"metadata":{"_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":["6:78"]},"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 & Robotic Systems","bibliographic_titleLang":"en"}]}]},"item_10001_creator_3":{"attribute_name":"Author","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Tatsch, Christopher"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ahmadi, Ahmadreza"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Bottega, Fabrício"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tani, Jun"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"da Silva Guerra, Rodrigo"}],"nameIdentifiers":[{}]}]},"item_10001_description_5":{"attribute_name":"Abstract","attribute_value_mlt":[{"subitem_description":"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.","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 & 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's 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","filename":"Dimitri_JINT2017_Rev3 (1).pdf","filesize":[{"value":"16.3 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","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"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-08-13"},"publish_date":"2019-08-13","publish_status":"0","recid":"1057","relation_version_is_last":true,"title":["Dimitri: an Open-Source Humanoid Robot with Compliant Joint"],"weko_creator_id":"27","weko_shared_id":27},"updated":"2023-06-26T11:57:48.449962+00:00"}