WEKO3
アイテム
Tumbling and Hopping Locomotion Control for a Minor Body Exploration Robot
http://hdl.handle.net/10228/00008277
http://hdl.handle.net/10228/00008277dfe15ff4-9eb6-4693-a88b-77066d04de36
| 名前 / ファイル | ライセンス | アクション |
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sociorobo_24.pdf (3.8 MB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2021-05-25 | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Tumbling and Hopping Locomotion Control for a Minor Body Exploration Robot | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Kobashi, Keita
× Kobashi, Keita× Bando, Ayumu× 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 modeling and analysis of a novel moving mechanism "tumbling" for asteroid exploration. The system actuation is provided by an internal motor and torque wheel; elastic spring-mounted spikes are attached to the perimeter of a circular-shaped robot, protruding normal to the surface and distributed uniformly. Compared with the conventional motion mechanisms, this simple layout enhances the capability of the robot to traverse a diverse microgravity environment. Technical challenges involved in conventional moving mechanisms, such as uncertainty of moving direction and inability to traverse uneven asteroid surfaces, can now be solved. A tumbling locomotion approach demonstrates two beneficial characteristics in this environment. First, tumbling locomotion maintains contact between the rover spikes and the ground. This enables the robot to continually apply control adjustments to realize precise and controlled motion. Second, owing to the nature of the mechanical interaction of the spikes and potential uneven surface protrusions, the robot can traverse uneven surfaces. In this paper, we present the dynamics modeling of the robot and analyze the motion of the robot experimentally and via numerical simulations. The results of this study help establish a moving strategy to approach the desired locations on asteroid surfaces. | |||||||||||||
| 言語 | en | |||||||||||||
| 備考 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 25, 2020 - January 24, 2021, Las Vegas, NV, USA （新型コロナ感染拡大に伴い、現地開催中止） | |||||||||||||
| 書誌情報 |
en : 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 発行日 2021-02-10 |
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| 出版社 | ||||||||||||||
| 出版者 | IEEE | |||||||||||||
| DOI | ||||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.1109/IROS45743.2020.9341223 | |||||||||||||
| ISBN | ||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-7281-6212-6 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 2153-0866 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2021 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. | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Analytical models | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Torque | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Dynamics | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Numerical simulation | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Numerical models | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Solar system | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Robots | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | AM | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 8861 | |||||||||||||
