@inproceedings{oai:jaxa.repo.nii.ac.jp:00007557,
 author = {外本, 伸治 and 錦織, 慎治 and 久保田, 孝 and Hokamoto, Shinji and Nishikori, Shinji and Kubota, Takashi},
 book = {第16回アストロダイナミクスシンポジウム講演後刷り集　2006, Proceedings of 16th Workshop on JAXA Astrodynamics and Flight Mechanics},
 month = {Mar},
 note = {本研究では、3次元的に等方な形状をもつ脚式探査ローバを取り扱う。各脚は3リンクで構成されており、通常の4足移動ロボットと同じ様に歩くことができる。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。ここでは3次元等方形状として、正8面体の本体に6本の脚をもつローバと正6面体の本体に8本の脚をもつローバを考える。それぞれの形状に対して、各脚の接地可能範囲と方向ごとの移動性能を調べる。, This study deals with a multi-legged planetary exploration rover of isotropic shape. Since each leg consists of three-link mechanism, the rover can walk in the same manner as quadruped locomotion robots. The rover is also free from an overturning problem because of its isotropic leg arrangement. Two types of rovers are treated in this paper, one has six legs based on a regular octahedron and another has eight legs based on a regular hexahedron. Some basic performances of walking for the two shapes of rovers are compared, i.e. reachable range of each leg on a planetary surface and load for movement in the different direction., 資料番号: AA0063481056},
 pages = {326--330},
 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 = {Conceptual study on a legged planetary rover of isotopic shape},
 year = {2007}
}