Kinematic discussion and development of a multi-legged planetary exploration rover with an isotropic leg arrangement

Shinji Nishikori, Shinji Hokamoto, Takashi Kubota

研究成果: Contribution to journalArticle査読

3 被引用数 (Scopus)

抄録

This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. The legged rover is a reliable rover system for exploration on rough terrains, because it can continue walking even after overturning. Moreover, the legged rover can also show a rotational motion by utilizing its isotropic shape. This paper discusses the walking performance of two types of rover shapes: one has a six-leg arrangement based on a regular octahedron and the other has an eight-leg arrangement based on a regular hexahedron. The design procedure of the proposed rover is explained, and a test-bed system, which is developed to demonstrate the fundamental motions, is also presented.

本文言語英語
ページ(範囲)789-804
ページ数16
ジャーナルAdvanced Robotics
25
6-7
DOI
出版ステータス出版済み - 2011

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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