Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement

Shinji Nishikori, Shinji Hokamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. This robot is a reliable system for the exploration on rough terrains, because the rover can continue walking even after overturning. Moreover, this rover can exhibit a rotational motion by utilizing its isotropic shape in addition to quadruped walking motion. This paper discusses two rotational motions; a quasi-static rotational motion and a dynamic rotational motion. This paper investigates reasonable attitudes for the quasi-static rotational motion from the view point of the energy consumption required for traveling. For the dynamic rotational motion, adequate attitudes to resist the shock for kicking and touchdown are discussed.

Original languageEnglish
Title of host publicationApplications of Space Technology for Humanity - Advances in the Astronautical Sciences
Subtitle of host publicationProceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS
Pages667-679
Number of pages13
Publication statusPublished - Dec 1 2010
Event12th International Conference of Pacific-Basin Societies, ISCOPS - Montreal, QC, Canada
Duration: Jul 27 2010Jul 30 2010

Publication series

NameAdvances in the Astronautical Sciences
Volume138
ISSN (Print)0065-3438

Other

Other12th International Conference of Pacific-Basin Societies, ISCOPS
CountryCanada
CityMontreal, QC
Period7/27/107/30/10

Fingerprint

space exploration
walking
evaluation
Energy utilization
Robots
touchdown
energy consumption
robots
shock

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Space and Planetary Science

Cite this

Nishikori, S., & Hokamoto, S. (2010). Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. In Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS (pp. 667-679). (Advances in the Astronautical Sciences; Vol. 138).

Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. / Nishikori, Shinji; Hokamoto, Shinji.

Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. 2010. p. 667-679 (Advances in the Astronautical Sciences; Vol. 138).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nishikori, S & Hokamoto, S 2010, Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. in Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. Advances in the Astronautical Sciences, vol. 138, pp. 667-679, 12th International Conference of Pacific-Basin Societies, ISCOPS, Montreal, QC, Canada, 7/27/10.
Nishikori S, Hokamoto S. Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. In Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. 2010. p. 667-679. (Advances in the Astronautical Sciences).
Nishikori, Shinji ; Hokamoto, Shinji. / Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. 2010. pp. 667-679 (Advances in the Astronautical Sciences).
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