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

Shinji Nishikori, Shinji Hokamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルApplications of Space Technology for Humanity - Advances in the Astronautical Sciences
ホスト出版物のサブタイトルProceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS
ページ667-679
ページ数13
出版ステータス出版済み - 12 1 2010
イベント12th International Conference of Pacific-Basin Societies, ISCOPS - Montreal, QC, カナダ
継続期間: 7 27 20107 30 2010

出版物シリーズ

名前Advances in the Astronautical Sciences
138
ISSN(印刷版)0065-3438

その他

その他12th International Conference of Pacific-Basin Societies, ISCOPS
Countryカナダ
CityMontreal, QC
Period7/27/107/30/10

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Space and Planetary Science

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