@inproceedings{oai:jaxa.repo.nii.ac.jp:00007330,
 author = {錦織, 慎治 and 外本, 伸治 and 久保田, 孝 and Nishikori, Shinji and Hokamoto, Shinji and Kubota, Takashi},
 book = {アストロダイナミクスシンポジウム講演後刷り集, Proceedings of 19th workshop on JAXA Astrodynamics and Flight Mechanics},
 month = {Mar},
 note = {アストロダイナミクスシンポジウム (2009年7月30-31日. 宇宙航空研究開発機構宇宙科学研究本部)), Workshop on JAXA Astrodynamics and Flight Mechanics, 2009 (July 30-31, 2009. Institute of Space and Astronautical Science (ISAS), Japan Aerospace Exploration Agency (JAXA)), Sagamihara, Kanagawa Japan, 本研究では胴体の中心から見て放射状に取り付けられた8本の脚をもつ歩行型探査ローバを扱う．各脚は3リンクで構成されており，通常の4足歩行ロボットのような移動ができる．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．さらに，歩行に利用できる脚数が多いので，多様な歩行姿勢をとることができる．ここでは各脚と地面の幾何学的関係性に着目し，脚の動かしやすさや必要トルクといった運動学的な評価指標を用いて，移動効率のよい歩行姿勢とローバのサイズを提案する．, This study deals with an 8-legged planetary exploration rover with spherically isotropic leg arrangement. Since each leg consists of 3-link mechanism, the rover can walk in the same manner as quadruped locomotion robots. The most important feature of the rover is that it is free from an overturning problem because of its isotropic leg arrangement. Furthermore, the rover can realize various attitudes for walking by redundancy of its number of the legs.Considering the geometry between each leg and its touching point on the planet surface, this paper investigates the ease of the leg's motion and the required joint torques. From these results, we propose an efficient walking attitude and redesign a reasonable link-length for the proposed attitude., 形態: カラー図版あり, Physical characteristics: Original contains color illustrations, 資料番号: AA0064734025},
 publisher = {宇宙航空研究開発機構宇宙科学研究本部, Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)},
 title = {Study on Efficient Walking Attitude of Planetary Exploration Rover with Spherically Isotropic Leg Arrangement},
 volume = {2009},
 year = {2010}
}