{"created":"2023-06-20T14:40:27.730876+00:00","id":7343,"links":{},"metadata":{"_buckets":{"deposit":"7476334f-0fca-411a-926d-d13c631cb879"},"_deposit":{"created_by":1,"id":"7343","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7343"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007343","sets":["1543:1544:1554","1887:1891"]},"author_link":["38839","38836","38841","38840","38838","38837"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"応力測定センサを用いた軟弱地盤走行ロボットの登坂能力オンライン推定"}]},"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":"月・惑星の表面は軟弱地盤に覆われており，移動探査ローバーが安全な走行を行うためには，登坂能力(斜面登坂に必要とされるけん引力に対する滑り度) を事前に予測することが非常に重要である．本研究室では，応力測定が可能なセンサを内蔵した車輪を利用し，直接車輪に加わる応力分布を測定することによる駆動力発生モデルの構築を行ってきた．本稿では，このけん引力モデルならびに応力測定センサを利用したオンラインでの登坂能力推定手法を検討すると共に，その有用性について検証する．","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"To navigate a wheeled mobile robot on surfaces of planets covered with loose-soil, it is first necessary to estimate its climbing ability on sandy slopes. To estimate the drawbar pull of wheels, we have been developing a traction force model based on the distribution of normal stress, directly measured by pressure sensors attached at the surface of the wheels. In this study, we examine the above mentioned on-line estimation approach, and we verify the validity of this approach through experimentation.","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: AA0064734038","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":"東北大学大学院工学研究科航空宇宙工学専攻"},{"subitem_text_value":"東北大学大学院工学研究科航空宇宙工学専攻"},{"subitem_text_value":"東北大学大学院工学研究科航空宇宙工学専攻"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University"},{"subitem_text_language":"en","subitem_text_value":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University"},{"subitem_text_language":"en","subitem_text_value":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University"}]},"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":"佐藤, 佳祐"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"永谷, 圭司"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"吉田, 和哉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Sato, Keisuke","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nagatani, Keiji","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshida, Kazuya","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":"Online Estimation of Climbing Ability of Wheeled Mobile Robots on Loose Soil by Normal Stress Measurement","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Online Estimation of Climbing Ability of Wheeled Mobile Robots on Loose Soil by Normal Stress Measurement","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":"7343","relation_version_is_last":true,"title":["Online Estimation of Climbing Ability of Wheeled Mobile Robots on Loose Soil by Normal Stress Measurement"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:40:59.485738+00:00"}