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アイテム
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Conceptual study on a legged planetary rover of isotopic shape
https://jaxa.repo.nii.ac.jp/records/7557
https://jaxa.repo.nii.ac.jp/records/7557a23bafc1-2f9b-4008-86ff-5bda6afc6863
Item type | 会議発表論文 / Conference Paper(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2015-03-26 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Conceptual study on a legged planetary rover of isotopic shape | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロービング車両 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 歩行機械 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 脚式惑星ローバ | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 等方形状 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 多面体 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 歩行 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 移動 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数学モデル | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 安定性 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 負荷 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 到達範囲 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | roving vehicle | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | walking machine | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | legged planetary rover | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | isotropic shape | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | polyhedron | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | walking | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | locomotion | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | mathematical model | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | stability | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | load | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | reachable range | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
アクセス権 | ||||||
アクセス権 | metadata only access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_14cb | |||||
その他のタイトル | ||||||
その他のタイトル | 等方形状をもつ脚式探査ローバに関する研究 | |||||
著者 |
外本, 伸治
× 外本, 伸治× 錦織, 慎治× 久保田, 孝× Hokamoto, Shinji× Nishikori, Shinji× Kubota, Takashi |
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著者所属 | ||||||
九州大学 大学院工学研究院 | ||||||
著者所属 | ||||||
九州大学 大学院工学研究院 | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 宇宙科学研究本部 | ||||||
著者所属(英) | ||||||
en | ||||||
Kyushu University Faculty of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Kyushu University Faculty of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space and Astronautical Science | ||||||
出版者 | ||||||
出版者 | 宇宙航空研究開発機構宇宙科学研究本部 | |||||
出版者(英) | ||||||
出版者 | Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS) | |||||
書誌情報 |
第16回アストロダイナミクスシンポジウム講演後刷り集 2006 en : Proceedings of 16th Workshop on JAXA Astrodynamics and Flight Mechanics p. 326-330, 発行日 2007-03 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 本研究では、3次元的に等方な形状をもつ脚式探査ローバを取り扱う。各脚は3リンクで構成されており、通常の4足移動ロボットと同じ様に歩くことができる。また、脚が3次元等方な位置に配置されているので、転倒することにより移動不能になるという問題が生じない。ここでは3次元等方形状として、正8面体の本体に6本の脚をもつローバと正6面体の本体に8本の脚をもつローバを考える。それぞれの形状に対して、各脚の接地可能範囲と方向ごとの移動性能を調べる。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | This study deals with a multi-legged planetary exploration rover of isotropic shape. Since each leg consists of three-link mechanism, the rover can walk in the same manner as quadruped locomotion robots. The rover is also free from an overturning problem because of its isotropic leg arrangement. Two types of rovers are treated in this paper, one has six legs based on a regular octahedron and another has eight legs based on a regular hexahedron. Some basic performances of walking for the two shapes of rovers are compared, i.e. reachable range of each leg on a planetary surface and load for movement in the different direction. | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0063481056 |