| アイテムタイプ |
共通アイテムタイプ(1) |
| 公開日 |
2025-07-24 |
| タイトル |
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|
タイトル |
Robust Mobility Performance of Lunar Exploration Rovers under Multiple Wheel Failure Scenarios |
|
言語 |
en |
| 著者 |
Casir Ricano, Jorge Ruben
Hino, Ryota
Fukata, Yuzuki
Nakamura, Taichi
Koshi, Tomoki
Yuasa, Sota
永岡, 健司
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| 著作権関連情報 |
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|
権利情報 |
Copyright (c) 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
|
言語 |
en |
| 抄録 |
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内容記述タイプ |
Abstract |
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内容記述 |
This paper presents the mobility performance analysis results of two four-wheeled lunar rovers with limited resources. The experiments were conducted using two different wheel designs in rolling and inching locomotion, multiple configurations, and failure scenarios. The results establish a resilience assessment of the robots’ mobility using a one-way clutch mechanism. The study shows results on non-failure, three-wheel, two-wheel, one-wheel, and complete drive actuator failure scenarios. Distance traveled, slip ratio, energy consumption, and the possibility of reconfiguration are evaluated and compared for each case, demonstrating the robots’ resilience in challenging lunar terrains and suitability for forthcoming lunar construction missions. |
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言語 |
en |
| 備考 |
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内容記述タイプ |
TechnicalInfo |
|
内容記述 |
2024 International Conference on Space Robotics (iSpaRo), 24-27 June 2024, Luxembourg, Luxembourg |
|
言語 |
en |
| 書誌情報 |
en : 2024 International Conference on Space Robotics (iSpaRo)
p. 165-171,
発行日 2024-09-27
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| 出版社 |
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出版者 |
IEEE |
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言語 |
en |
| キーワード |
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言語 |
en |
|
主題Scheme |
Other |
|
主題 |
Space Robotic Locomotion and Terramechanics |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
Planetary Exploration |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_1843 |
|
資源タイプ |
other |
| 出版タイプ |
|
|
出版タイプ |
AM |
|
出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
| DOI |
|
|
|
識別子タイプ |
DOI |
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|
関連識別子 |
https://doi.org/10.1109/iSpaRo60631.2024.10687994 |
| ISBN |
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|
識別子タイプ |
ISBN |
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関連識別子 |
979-8-3503-6723-2 |
| 会議記述 |
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会議名 |
2024 International Conference on Space Robotics (iSpaRo) |
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言語 |
en |
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開始年 |
2024 |
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開始月 |
09 |
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開始日 |
24 |
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終了年 |
2024 |
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終了月 |
09 |
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終了日 |
27 |
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開催地 |
Luxembourg |
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言語 |
en |
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開催国 |
LUX |
| 研究者情報 |
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|
URL |
https://hyokadb02.jimu.kyutech.ac.jp/html/100001220_ja.html |
| 論文ID（連携） |
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|
値 |
10441708 |
| 連携ID |
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|
値 |
14708 |
10441708.pdf (3.0 MB)
