{"created":"2023-06-20T14:40:44.961165+00:00","id":7674,"links":{},"metadata":{"_buckets":{"deposit":"bad771e0-91d6-41ef-a8e2-77c94dd38d6e"},"_deposit":{"created_by":1,"id":"7674","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7674"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007674","sets":["1543:1544:1559","1887:1891"]},"author_link":["41148","41147","41143","41146","41144","41145"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"高い踏破性とエネルギ効率を有するローバの脚機構に関する研究"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2005-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"240","bibliographicPageStart":"233","bibliographic_titles":[{"bibliographic_title":"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"},{"bibliographic_title":"ISAS proceedings of 14th Workshop on Astrodynamics and Flight Mechanics 2004: A Collection of Technical Papers","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本研究では、従来の脚型の問題を解決し、その長所を生かすことで、車輪型以上の性能を有する脚型ローバを考案する。考案した脚機構は1回転軸で駆動され、ボディの上下振動を生じないという特徴を有する。そのため、ボディに上下振動を生じる他の脚機構よりもエネルギー効率に優れている。開発した脚機構をラジコンカーに実装した実験および数値シミュレータを構築した。段差踏破性能および移動エネルギー効率に着目して、実験装置と数値シミュレーションにより評価した結果、開発した脚機構の有用性が明らかになる。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This research develops a leg for rover that has higher performance than wheels by using advantages of leg and solving problems of existing legs. The designed leg is a simple mechanism driven by a rotation axle and does not make vertical oscillation of the body. Therefore, this mechanism is excellent in terms of energy efficiency compared with other leg mechanisms that generate vertical oscillation of the body. Experimental models with the developed leg mechanisms are constructed by using a radio control car. Utility of the developed leg mechanism is manifested by evaluation of traverse ability and energy efficiency using the experimental models and the numerical simulations.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0047897041","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_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0918-8053","subitem_source_identifier_type":"ISSN"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"金沢大学 大学院自然科学研究科"},{"subitem_text_value":"金沢大学 大学院自然科学研究科"},{"subitem_text_value":"金沢大学 大学院自然科学研究科"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Kanazawa University Graduate School of Natural Science and Technology"},{"subitem_text_language":"en","subitem_text_value":"Kanazawa University Graduate School of Natural Science and Technology"},{"subitem_text_language":"en","subitem_text_value":"Kanazawa University Graduate School of Natural Science and Technology"}]},"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":"泉田, 啓"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高堂, 順平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"木村, 昌宏"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Senda, Kei","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takado, Junpei","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kimura, Masahiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"脚機構","subitem_subject_scheme":"Other"},{"subitem_subject":"エネルギー効率","subitem_subject_scheme":"Other"},{"subitem_subject":"横方向能力","subitem_subject_scheme":"Other"},{"subitem_subject":"上下振動","subitem_subject_scheme":"Other"},{"subitem_subject":"ローバ","subitem_subject_scheme":"Other"},{"subitem_subject":"回転軸","subitem_subject_scheme":"Other"},{"subitem_subject":"模型","subitem_subject_scheme":"Other"},{"subitem_subject":"数値シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"leg mechanism","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"energy efficiency","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"transverse ability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"vertical oscillation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"rover","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"rotation axle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"numerical simulation","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":"Research on leg mechanism for rovers with high traverse ability and energy efficiency","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Research on leg mechanism for rovers with high traverse ability and energy efficiency","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1559","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7674","relation_version_is_last":true,"title":["Research on leg mechanism for rovers with high traverse ability and energy efficiency"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:35:50.134786+00:00"}