{"created":"2023-06-20T14:40:47.668423+00:00","id":7735,"links":{},"metadata":{"_buckets":{"deposit":"65aa1421-c495-4e0b-acea-66fd41555239"},"_deposit":{"created_by":1,"id":"7735","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7735"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007735","sets":["1543:1544:1560","1887:1891"]},"author_link":["41574","41575","41576","41573","41577","41578","41571","41572"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"重力環境に基づく移動原理の解明"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"215","bibliographicPageStart":"210","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":"惑星探査ロボットの移動性能は重力環境と密接に関係している。これまでにも小惑星などの小天体を探査するロボットのための新しい移動メカニズムとして、天体表面を浮上して移動する方法が提案されている。しかしながらこれらの研究では、対象とする重力環境において浮上移動が最適であることは証明されていない。本研究の目的は各重力環境に対し、どのような移動方法が適しているのかを明らかにすることである。その第1段階として、各移動方法に対し、どのような重力環境が適しているのかを検討する。本稿ではまず移動方法をその推進原理により分類した後、浮上して移動するホッピングロボットと車輪型のロボットをその理想的な環境下での移動速度に関して比較する。最後に、シミュレーションによって車輪型ロボットが段差状の地形を走行する際、段差の影響が重力加速度によってどのように異なるのかを検討する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"Performance of mobility is highly dependent on the gravitational environment. Some researchers have proposed novel locomotion methods for extremely small terrestrial bodies like asteroids. Hopping is a possible method under microgravity. It is not proved, however, that the proposed method of locomotion is optimum for a given level of gravity. The purpose of this paper is to analyze which level of gravity is optimum for each mechanism, and which mechanism or parameter is optimum for each level of gravity. First, a classification of locomotion mechanism is described. Next, the speed of hopping and wheeled robots is compared. Finally, some simulation studies are performed to analyze the detailed mobility of wheeled robots.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0046652034","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"},{"subitem_text_value":"東京大学"},{"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"},{"subitem_text_language":"en","subitem_text_value":"University of Tokyo"},{"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":"高橋, 啓"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"下田, 真吾"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 孝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中谷, 一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takahashi, Kei","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Shimoda, Shingo","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":"重力場","subitem_subject_scheme":"Other"},{"subitem_subject":"移動系","subitem_subject_scheme":"Other"},{"subitem_subject":"移動","subitem_subject_scheme":"Other"},{"subitem_subject":"ホイールロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"ホッピングロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙探索","subitem_subject_scheme":"Other"},{"subitem_subject":"モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"gravitational field","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"mobile system","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"locomotion","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"wheel robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"hopping robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space exploration","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"model","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":"Principle of mobile system based on gravitational field","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Principle of mobile system based on gravitational field","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":"7735","relation_version_is_last":true,"title":["Principle of mobile system based on gravitational field"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:34:51.868050+00:00"}