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アイテム
Analysis of Motion Control for a Quadruped Ground-Gripping Robot for Minor Body Exploration on Uneven Terrain
http://hdl.handle.net/10228/00008452
http://hdl.handle.net/10228/00008452c27d8a4f-837c-4494-a7dc-ce6020bd6743
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
sociorobo_21.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 | 2021-09-07 | |||||||||||||
| 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 | Analysis of Motion Control for a Quadruped Ground-Gripping Robot for Minor Body Exploration on Uneven Terrain | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Ribeiro, Warley F. R.
× Ribeiro, Warley F. R.× Uno, Kentaro× 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 | The exploration of minor bodies, such as asteroids and comets using robotics is a necessary step for the study of the Solar System's evolutionary process. For such purpose, a multi-legged ground-gripping robot was proposed to perform precise locomotion towards specific places of interest. Moreover, stable locomotion is expected, since this robot has grippers capable of grasping the rocky and uneven terrain of the minor bodies, maintaining the attachment to the ground and preventing the flotation of the robot on the microgravity environment. Decreasing the forces induced on the grippers is essential to keep the stable locomotion in such environments and, in this paper, a gait control method is proposed to reduce accelerations and motion reactions on the robot, avoiding high reaction forces on the contact points with the ground. This method focuses on generating trajectories to be traveled by parts of the robot. A numerical simulation was developed to investigate the effectiveness of the proposed method in decreasing reactions on the robot during the motion of the robot on uneven terrains by comparing different trajectories' parameters. | |||||||||||||
| 言語 | en | |||||||||||||
| 備考 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | International Symposium on Space Technology and Science (32nd ISTS), June 15-21, 2019, Fukui, Japan | |||||||||||||
| 書誌情報 |
en : Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan 巻 19, 号 5, p. 794-801, 発行日 2021-09-04 |
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| 出版社 | ||||||||||||||
| 出版者 | 日本航空宇宙学会 | |||||||||||||
| 言語 | ja | |||||||||||||
| DOI | ||||||||||||||
| 関連タイプ | isIdenticalTo | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.2322/tastj.19.794 | |||||||||||||
| 日本十進分類法 | ||||||||||||||
| 主題Scheme | NDC | |||||||||||||
| 主題 | 501 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 1884-0485 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2021 The Japan Society for Aeronautical and Space Sciences | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Ground-Gripping Robot | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Robotic Exploration | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Microgravity | |||||||||||||
| 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 | 8786 | |||||||||||||
