{"created":"2023-06-20T14:40:38.224488+00:00","id":7557,"links":{},"metadata":{"_buckets":{"deposit":"247286d8-2381-4f4e-970a-fe0d657b63cc"},"_deposit":{"created_by":1,"id":"7557","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7557"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007557","sets":["1543:1544:1557","1887:1891"]},"author_link":["40444","40440","40441","40442","40443","40439"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"等方形状をもつ脚式探査ローバに関する研究"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2007-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"330","bibliographicPageStart":"326","bibliographic_titles":[{"bibliographic_title":"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"},{"bibliographic_title":"Proceedings of 16th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063481056","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/ISAS)"}]},"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"},{"subitem_text_value":"九州大学 大学院工学研究院"},{"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":"Kyushu University Faculty of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Kyushu University Faculty of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"}]},"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":"外本, 伸治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"錦織, 慎治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 孝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hokamoto, Shinji","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nishikori, Shinji","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kubota, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロービング車両","subitem_subject_scheme":"Other"},{"subitem_subject":"歩行機械","subitem_subject_scheme":"Other"},{"subitem_subject":"脚式惑星ローバ","subitem_subject_scheme":"Other"},{"subitem_subject":"等方形状","subitem_subject_scheme":"Other"},{"subitem_subject":"多面体","subitem_subject_scheme":"Other"},{"subitem_subject":"歩行","subitem_subject_scheme":"Other"},{"subitem_subject":"移動","subitem_subject_scheme":"Other"},{"subitem_subject":"数学モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"安定性","subitem_subject_scheme":"Other"},{"subitem_subject":"負荷","subitem_subject_scheme":"Other"},{"subitem_subject":"到達範囲","subitem_subject_scheme":"Other"},{"subitem_subject":"roving vehicle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"walking machine","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"legged planetary rover","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"isotropic shape","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"polyhedron","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"walking","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"locomotion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"mathematical model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"stability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"load","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"reachable range","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"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":"Conceptual study on a legged planetary rover of isotopic shape","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Conceptual study on a legged planetary rover of isotopic shape","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1557","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7557","relation_version_is_last":true,"title":["Conceptual study on a legged planetary rover of isotopic shape"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:37:39.892764+00:00"}