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Mobility Analysis of a Tumbling and Hopping Rover with An Inner Actuator and Several Elastic Spikes in Microgravity
http://hdl.handle.net/10228/00008230
http://hdl.handle.net/10228/00008230a09b4e93-2e34-407b-96b6-549f516d17f2
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
sociorobo_23.pdf (1.7 MB)
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| Item type | 会議発表論文 = Conference Paper(1) | |||||||||||
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| 公開日 | 2021-04-26 | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||
| 資源タイプ | conference paper | |||||||||||
| タイトル | ||||||||||||
| タイトル | Mobility Analysis of a Tumbling and Hopping Rover with An Inner Actuator and Several Elastic Spikes in Microgravity | |||||||||||
| 言語 | en | |||||||||||
| その他のタイトル | ||||||||||||
| その他のタイトル | Mobility Analysis of Hopping and Tumbling Motion in Microgravity | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
Kobashi, Keita
× Kobashi, Keita× 永岡, 健司
WEKO
30315
× Yoshida, Kazuya |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This paper presents the analyses of the tumbling and hopping mobility of a novel moving mechanism on small celestial bodies in microgravity. The robot consists of an inner motor with a flywheel and eight elastic spikes connected to the perimeter of the robot. The tumbling and hopping motion of the robot can be switched by controlling the torque of the motor. Hence, the robot can traverse a large region with high moving accuracy. In this paper, we conduct several numerical simulations to analyze the characteristics of the mobility by assigning various values of elastic and damping coefficient of spikes, and the torque of the motor. The results are useful to construct the feasible motion planning for real missions. | |||||||||||
| 備考 | ||||||||||||
| 内容記述タイプ | Other | |||||||||||
| 内容記述 | International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2020), October 19-23, 2021, Los Angles, CA, USA（新型コロナ感染拡大に伴い、オンライン開催に変更） | |||||||||||
| 書誌情報 |
p. #5083 |
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| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 査読の有無 | ||||||||||||
| 値 | yes | |||||||||||
| 連携ID | ||||||||||||
| 値 | 8785 | |||||||||||
