A study of locomotion mechanism based on gravitational environment

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

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ4001-4006
ページ数6
出版ステータスPublished - 2004
外部発表はい
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9 282004 10 2

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
4

Other

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

ASJC Scopus subject areas

  • 工学(全般)

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