{"created":"2020-12-18T12:18:27.643311+00:00","id":6933,"links":{},"metadata":{"_buckets":{"deposit":"9f448c25-39a1-4d5b-b720-5dc39b825f25"},"_deposit":{"created_by":71,"id":"6933","owner":"71","owners":[71],"owners_ext":{"displayname":"Kay_Thwe","email":"kay_thwe_kywe_aye@miit.edu.mm","username":"kay_thwe"},"pid":{"revision_id":0,"type":"depid","value":"6933"},"status":"published"},"_oai":{"id":"oai:meral.edu.mm:recid/00006933","sets":["1582963674932","1582963674932:1597397085335"]},"communities":["miit"],"item_1583103067471":{"attribute_name":"Title","attribute_value_mlt":[{"subitem_1551255647225":"Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot","subitem_1551255648112":"en"}]},"item_1583103085720":{"attribute_name":"Description","attribute_value_mlt":[{"interim":"The key contribution of this paper is to generate the stable\n hip trajectory for ascending stairs of the biped robot from the mathematical point of view. \nTo approach this goal, we first construct the mathematical model for kinematics constraints of  step of ascending stairs and discuss the concept of hip trajectory relative to stability. From this, the stable hip trajectory for one cycle of ascending stairs step is derived by interpolation polynomial. Finally, the numerical result of the proposed trajectory is verified with Matlab figures. The present algorithm is also applicable for descending stairs of the biped robot."}]},"item_1583103108160":{"attribute_name":"Keywords","attribute_value_mlt":[{"interim":"Ascending stairs, Biped Robot, Hip trajectory, Stable motion, Trajectory planning"}]},"item_1583103120197":{"attribute_name":"Files","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2020-12-18"}],"displaytype":"preview","filename":"Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot.pdf","filesize":[{"value":"4.2 MB"}],"format":"application/pdf","url":{"url":"https://meral.edu.mm/record/6933/files/Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot.pdf"},"version_id":"659de395-d8fa-4cfc-b4ba-f4aa64737503"}]},"item_1583103147082":{"attribute_name":"Conference papers","attribute_value_mlt":[{"subitem_acronym":"MES","subitem_c_date":"16-01-2020","subitem_conference_title":"The First National Conference on Engineering Research","subitem_place":"Yangon, Myanmar"}]},"item_1583105942107":{"attribute_name":"Authors","attribute_value_mlt":[{"subitem_authors":[{"subitem_authors_fullname":"Aye Aye Thant"},{"subitem_authors_fullname":"Khaing 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":"2020-01-16"},"item_title":"Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot","item_type_id":"21","owner":"71","path":["1582963674932","1597397085335"],"publish_date":"2020-12-18","publish_status":"0","recid":"6933","relation_version_is_last":true,"title":["Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot"],"weko_creator_id":"71","weko_shared_id":-1},"updated":"2022-03-24T23:12:20.850014+00:00"}