{"created":"2023-06-20T14:40:27.131783+00:00","id":7330,"links":{},"metadata":{"_buckets":{"deposit":"cf967a81-6acc-47f5-b68b-754015bac7c3"},"_deposit":{"created_by":1,"id":"7330","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7330"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007330","sets":["1543:1544:1554","1887:1891"]},"author_link":["38761","38759","38760","38758","38762","38757"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"三次元等方脚配置を有する歩行型ローバの効率的な歩行姿勢の検討"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-03","bibliographicIssueDateType":"Issued"},"bibliographicVolumeNumber":"2009","bibliographic_titles":[{"bibliographic_title":"アストロダイナミクスシンポジウム講演後刷り集"},{"bibliographic_title":"Proceedings of 19th workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_14":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）","attribute_value_mlt":[{"subitem_description":"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))","subitem_description_type":"Other"}]},"item_5_description_15":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）（英）","attribute_value_mlt":[{"subitem_description":"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","subitem_description_type":"Other"}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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．","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_5_description_18":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"形態: カラー図版あり","subitem_description_type":"Other"}]},"item_5_description_19":{"attribute_name":"内容記述（英）","attribute_value_mlt":[{"subitem_description":"Physical characteristics: Original contains color illustrations","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0064734025","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)"}]},"item_5_source_id_24":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11567475","subitem_source_identifier_type":"NCID"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"九州大学大学院工学研究院航空宇宙工学部門"},{"subitem_text_value":"九州大学大学院工学研究院航空宇宙工学部門"},{"subitem_text_value":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Department of Aeronautics and Astronautics, Kyushu University"},{"subitem_text_language":"en","subitem_text_value":"Department of Aeronautics and Astronautics, Kyushu University"},{"subitem_text_language":"en","subitem_text_value":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"錦織, 慎治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"外本, 伸治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 孝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nishikori, Shinji","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hokamoto, Shinji","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kubota, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Study on Efficient Walking Attitude of Planetary Exploration Rover with Spherically Isotropic Leg Arrangement","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Study on Efficient Walking Attitude of Planetary Exploration Rover with Spherically Isotropic Leg Arrangement","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1554","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7330","relation_version_is_last":true,"title":["Study on Efficient Walking Attitude of Planetary Exploration Rover with Spherically Isotropic Leg Arrangement"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:41:11.839518+00:00"}