@inproceedings{oai:jaxa.repo.nii.ac.jp:00007461,
 author = {石上, 玄也 and 永谷, 圭司 and 吉田, 和哉 and Ishigami, Genya and Nagatani, Keiji and Yoshida, Kazuya},
 book = {第17回アストロダイナミクスシンポジウム講演後刷り集　2007, Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics},
 month = {Mar},
 note = {筆者らの研究グループでは、模擬月面土壌(レゴリスシミュラント)を用いて、車輪型ローバーの走行特性の研究をおこなっている。様々なスリップ状態における車輪の縦方向および横方向の駆動力を評価するモデルを構築し、車輪走行試験装置を用いて車輪モデルの定量的評価をおこなってきた。また、4車輪ローバーモデルを開発し、ローバーのステアリング特性や斜面横断時の走行特性を明らかにするとともに、数値シミュレーションモデルとの比較をおこなってきた。本稿では、これまでの研究成果の概要を報告する。, In this paper, locomotion mechanics for a lunar exploration rover are addressed. The authors have developed mathematical models to evaluate the longitudinal and lateral traction forces of a wheel for various slip conditions, and the model has been quantitatively verified using a single wheel test bed. The wheel model for locomotion mechanics has been incorporated into an articulated multibody model of the entire rover in order to describe the motion dynamics of the rover. The experiments using a four-wheel rover for horizontal steering and slope traversing have been carried out. The proposed model for an analysis of locomotion mechanics of the rover is verified through comparison between the experimental result and simulation result using the proposed model., 資料番号: AA0063718024},
 pages = {146--151},
 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/ISAS)},
 title = {Locomotion mechanics of wheeled rovers on simulated lunar soil},
 year = {2008}
}