A study of locomotion mechanism based on gravitational environment

Kei Takahashi, Shingo Shimoda, Kojiro Iizuka, Takashi Kubota, Ichiro Nakatani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Performance of mobility is highly dependent on the gravitational environment Some researchers have proposed novel locomotion methods for extremely small terrestrial bodies like asteroids. Hopping is a possible method under micro-gravity. It is not proved, however, that the proposed method of locomotion is optimum for a given level of gravity. The purpose of this paper is to analyze which level of gravity is optimum for each mechanism, and which mechanism or parameter is optimum for each level of gravity. First, a classification of locomotion mechanism is described. Next, the speed of hopping and wheeled robots is compared. Finally, some simulation studies are performed to analyze the detailed mobility of wheeled robots.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages4001-4006
Number of pages6
Publication statusPublished - 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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    Takahashi, K., Shimoda, S., Iizuka, K., Kubota, T., & Nakatani, I. (2004). A study of locomotion mechanism based on gravitational environment. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4001-4006). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 4).