{"created":"2023-06-20T14:40:47.625122+00:00","id":7734,"links":{},"metadata":{"_buckets":{"deposit":"e539aacf-22f2-454a-a631-269b154140fb"},"_deposit":{"created_by":1,"id":"7734","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7734"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007734","sets":["1543:1544:1560","1887:1891"]},"author_link":["41563","41569","41570","41567","41565","41566","41568","41562","41561","41564"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"浮上移動機構における浮上速度ベクトルの解析"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"209","bibliographicPageStart":"204","bibliographic_titles":[{"bibliographic_title":"平成15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 13th Workshop on Astrodynamics and Flight Mechanics 2003: A Collection of Technical Papers","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"小惑星などの小天体の探査を行う場合、1地点の探査よりも移動して複数地点を探査するほうが望ましい。微小重力環境での効率的な移動法として、浮上して移動する方法が提案されている。浮上移動で目標地点に移動するには、浮上角度と浮上速度の制御が不可欠である。大きな水平速度を得るため、あるいは急峻な斜面を登るためには、出来るだけ低角度に浮上する必要がある。そこで本稿では、内部質量を動かす機構で浮上するロボットを用い、浮上角度、浮上速度の解析を行った。シミュレーションと無重力実験による結果より、ロボットの浮上角度は、表面の摩擦より決定する限界角度があり、その角度以下で制御可能であることが明らかになった。また、砂面ではロボットにスパイクをつけることで、より低い角度で浮上することが可能であった。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"The scientific value of asteroids calls for new methods for their exploration. A possible future mission might involve a robot to carry scientific instruments to a large number of locations on an asteroid's surface. Due to the low gravity on asteroids, hopping is recognized as a very effective locomotion method. To successfully approach selected targets, a robot has to be able to control its hopping direction and speed. A flat hop angle is required to achieve large horizontal speeds and to traverse steep terrain. The hop angle is a function of the hopping mechanism and ultimately limited by friction the robot can produce with the ground. The hop of a simple mechanism is studied in simulation and validated with experiments performed in a simulated microgravity environment. Parameters are identified that affect the predictability of the hop vector and the maximum achievable hop angle.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0046652033","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":"東京大学 大学院工学系研究科"},{"subitem_text_value":"東京大学 大学院工学系研究科"},{"subitem_text_value":"東京大学 大学院工学系研究科"},{"subitem_text_value":"宇宙科学研究所"},{"subitem_text_value":"宇宙科学研究所"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"University of Tokyo Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"University of Tokyo Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"University of Tokyo Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Institute of Space and Astronautical Science"},{"subitem_text_language":"en","subitem_text_value":"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":"Wingert, Andreas"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"下田, 真吾"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高橋, 啓"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 孝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中谷, 一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Wingert, Andreas","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Shimoda, Shingo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takahashi, Kei","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kubota, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nakatani, Ichiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ホッピング機構","subitem_subject_scheme":"Other"},{"subitem_subject":"ホッピングローバー","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"重力","subitem_subject_scheme":"Other"},{"subitem_subject":"摩擦","subitem_subject_scheme":"Other"},{"subitem_subject":"微小重力","subitem_subject_scheme":"Other"},{"subitem_subject":"シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"hopping mechanism","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"hopping rover","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"gravitation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"friction","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"microgravity","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"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":"Analysis of the hop vector in hopping mobility","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Analysis of the hop vector in hopping mobility","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1560","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7734","relation_version_is_last":true,"title":["Analysis of the hop vector in hopping mobility"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:34:52.914762+00:00"}