{"_buckets": {"deposit": "bf602ca1-edaf-4f84-9f47-5e4c0176bab1"}, "_deposit": {"created_by": 71, "id": "6923", "owner": "71", "owners": [71], "owners_ext": {"displayname": "Kay_Thwe", "username": "kay_thwe"}, "pid": {"revision_id": 0, "type": "depid", "value": "6923"}, "status": "published"}, "_oai": {"id": "oai:meral.edu.mm:recid/00006923", "sets": ["user-miit"]}, "communities": ["miit"], "item_1583103067471": {"attribute_name": "Title", "attribute_value_mlt": [{"subitem_1551255647225": "Foot Trajectory  Generation for Climbing Upstairs of a Biped Robot", "subitem_1551255648112": "en"}]}, "item_1583103085720": {"attribute_name": "Description", "attribute_value_mlt": [{"interim": "For a biped robot to be able to climb up and down\nstairs, the robot must be capable of various type of foot\nmotion and high path curvature of trajectory planning will be\nneeded. Basic requirement for the trajectory planning is to\nachieve smooth walking pattern for the biped robot. This\npaper presents the foot trajectory for climbing up stairs of the\nbiped robot. In order to meet the requirement of smooth\ntrajectory planning, the trajectory is generated by cubic spline\ninterpolation method. The smooth trajectory of the present\nalgorithm is verified with Matlab figures. The present\nalgorithm is also applicable for climbing down stairs of the\nbiped robot."}]}, "item_1583103108160": {"attribute_name": "Keywords", "attribute_value_mlt": [{"interim": "Biped Robot"}, {"interim": "Climbing upstairs"}, {"interim": "cubic spline"}, {"interim": "interpolation"}, {"interim": "foot trajectory"}, {"interim": "smooth"}]}, "item_1583103120197": {"attribute_name": "Files", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_access", "date": [{"dateType": "Available", "dateValue": "2020-12-18"}], "displaytype": "preview", "download_preview_message": "", "file_order": 0, "filename": "Foot Trajectory  Generation for Climbing Upstairs of a Biped Robot.pdf", "filesize": [{"value": "7.4 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "mimetype": "application/pdf", "size": 7400000.0, "url": {"url": "https://meral.edu.mm/record/6923/files/Foot Trajectory  Generation for Climbing Upstairs of a Biped Robot.pdf"}, "version_id": "7d6953f9-67b7-4868-ab6e-843e68644f74"}]}, "item_1583103147082": {"attribute_name": "Conference papers", "attribute_value_mlt": [{"subitem_acronym": "YTU", "subitem_c_date": "07-12-2019", "subitem_conference_title": "The Tenth International Conference on Science and Engineering  2019", "subitem_place": "Yangon, Myanmar"}]}, "item_1583105942107": {"attribute_name": "Authors", "attribute_value_mlt": [{"subitem_authors": [{"subitem_authors_fullname": "Aye Aye Thant"}, {"subitem_authors_fullname": "Myat Moe Khaing"}]}]}, "item_1583108359239": {"attribute_name": "Upload type", "attribute_value_mlt": [{"interim": "Publication"}]}, "item_1583108428133": {"attribute_name": "Publication type", "attribute_value_mlt": [{"interim": "Conference paper"}]}, "item_1583159729339": {"attribute_name": "Publication date", "attribute_value": "2019-12-07"}, "item_title": "Foot Trajectory  Generation for Climbing Upstairs of a Biped Robot", "item_type_id": "21", "owner": "71", "path": ["1582963674932", "1597397085335"], "permalink_uri": "http://hdl.handle.net/20.500.12678/0000006923", "pubdate": {"attribute_name": "Deposited date", "attribute_value": "2020-12-18"}, "publish_date": "2020-12-18", "publish_status": "0", "recid": "6923", "relation": {}, "relation_version_is_last": true, "title": ["Foot Trajectory  Generation for Climbing Upstairs of a Biped Robot"], "weko_shared_id": -1}