@inproceedings{oai:jaxa.repo.nii.ac.jp:00007673,
 author = {吉田, 和哉 and Chacin, Marco and Merino, Juan and 矢野, 創 and Yoshida, Kazuya and Chacin, Marco and Merino, Juan and Yano, Hajime},
 book = {平成16年度アストロダイナミクスシンポジウム:講演後刷り集, ISAS proceedings of 14th Workshop on Astrodynamics and Flight Mechanics 2004: A Collection of Technical Papers},
 month = {Mar},
 note = {次期小惑星探査ミッションに搭載可能な小型移動ロボットの開発を目指して、基本な検討を行う。ロボットには重力が微小な小惑星表面を広範囲に移動し、かつ細かな位置決めをすることが求められる。単純な脚を対象に配置した「ウニ」のようなロボットを考え、その力学運動を解析する。重力が微小な環境でも、脚の運動と制御力を微小にすれば、動的な歩行が可能であることを示す。, This paper presents the design and preliminary analysis of a mobile robot for asteroid exploration. The goal of this research is to investigate different mobility systems which may present advantages over conventional wheel or leg locomotion in microgravity environment. The requirement for the robot is to achieve scientific investigation of the asteroid surface at arbitrary locations with fine positioning capability after large stride movement. It is shown that a robot which has multiple simple legs in a symmetric arrangement can have both large stride and crawling mobility. The paper discusses dynamic behavior of a multi-legged robot in different gravity conditions and shows that the behavior in microgravity environment becomes similar to that in normal gravity by reducing the magnitude of the leg motion and control forces accordingly., 資料番号: AA0047897040},
 pages = {227--232},
 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 = {Bio-mimetic mechanism for rovers under microgravity surface environment},
 year = {2005}
}