WEKO3
アイテム
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Bio-mimetic mechanism for rovers under microgravity surface environment
https://jaxa.repo.nii.ac.jp/records/7673
https://jaxa.repo.nii.ac.jp/records/7673821d002e-95f6-4343-90b5-e66055480f6a
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 | Bio-mimetic mechanism for rovers under microgravity surface environment | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ローバー | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | バイオミメティックス | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 小惑星探査 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 可動ロボット | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 表面環境 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 脚機構 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | シミュレーション | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | rover | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | biomimetics | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | asteroid exploration | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | mobile robot | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | surface environment | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | leg mechanism | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | simulation | |||||
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 | 微小重力環境で移動可能なバイオミメティックなローバーの設計検討 | |||||
著者 |
吉田, 和哉
× 吉田, 和哉× Chacin, Marco× Merino, Juan× 矢野, 創× Yoshida, Kazuya× Chacin, Marco× Merino, Juan× Yano, Hajime |
|||||
著者所属 | ||||||
東北大学 工学部 機械航空工学科 | ||||||
著者所属 | ||||||
東北大学 大学院工学研究科 | ||||||
著者所属 | ||||||
国際宇宙大学 | ||||||
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 | ||||||
Tohoku University Department of Aeronautics and Space Engineering, Faculty of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Tohoku University Graduate School of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
International Space University | ||||||
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 |
平成16年度アストロダイナミクスシンポジウム:講演後刷り集 en : ISAS proceedings of 14th Workshop on Astrodynamics and Flight Mechanics 2004: A Collection of Technical Papers p. 227-232, 発行日 2005-03 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 次期小惑星探査ミッションに搭載可能な小型移動ロボットの開発を目指して、基本な検討を行う。ロボットには重力が微小な小惑星表面を広範囲に移動し、かつ細かな位置決めをすることが求められる。単純な脚を対象に配置した「ウニ」のようなロボットを考え、その力学運動を解析する。重力が微小な環境でも、脚の運動と制御力を微小にすれば、動的な歩行が可能であることを示す。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | This paper presents the design and preliminary analysis of a mobile robot for asteroid exploration. The goal of this research is to investigate different mobility systems which may present advantages over conventional wheel or leg locomotion in microgravity environment. The requirement for the robot is to achieve scientific investigation of the asteroid surface at arbitrary locations with fine positioning capability after large stride movement. It is shown that a robot which has multiple simple legs in a symmetric arrangement can have both large stride and crawling mobility. The paper discusses dynamic behavior of a multi-legged robot in different gravity conditions and shows that the behavior in microgravity environment becomes similar to that in normal gravity by reducing the magnitude of the leg motion and control forces accordingly. | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0918-8053 | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0047897040 |