Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement

Shinji Nishikori; Shinji Hokamoto

Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement

Shinji Nishikori, Shinji Hokamoto

Flight Dynamics Lab

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. This robot is a reliable system for the exploration on rough terrains, because the rover can continue walking even after overturning. Moreover, this rover can exhibit a rotational motion by utilizing its isotropic shape in addition to quadruped walking motion. This paper discusses two rotational motions; a quasi-static rotational motion and a dynamic rotational motion. This paper investigates reasonable attitudes for the quasi-static rotational motion from the view point of the energy consumption required for traveling. For the dynamic rotational motion, adequate attitudes to resist the shock for kicking and touchdown are discussed.

Original language	English
Title of host publication	Applications of Space Technology for Humanity - Advances in the Astronautical Sciences
Subtitle of host publication	Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS
Pages	667-679
Number of pages	13
Publication status	Published - Dec 1 2010
Event	12th International Conference of Pacific-Basin Societies, ISCOPS - Montreal, QC, Canada Duration: Jul 27 2010 → Jul 30 2010

Publication series

Name	Advances in the Astronautical Sciences
Volume	138
ISSN (Print)	0065-3438

Other

Other	12th International Conference of Pacific-Basin Societies, ISCOPS
Country/Territory	Canada
City	Montreal, QC
Period	7/27/10 → 7/30/10

All Science Journal Classification (ASJC) codes

Aerospace Engineering
Space and Planetary Science

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

Nishikori, S., & Hokamoto, S. (2010). Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. In Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS (pp. 667-679). (Advances in the Astronautical Sciences; Vol. 138).

Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. / Nishikori, Shinji; Hokamoto, Shinji.
Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. 2010. p. 667-679 (Advances in the Astronautical Sciences; Vol. 138).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nishikori, S & Hokamoto, S 2010, Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. in Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. Advances in the Astronautical Sciences, vol. 138, pp. 667-679, 12th International Conference of Pacific-Basin Societies, ISCOPS, Montreal, QC, Canada, 7/27/10.

Nishikori S, Hokamoto S. Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. In Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. 2010. p. 667-679. (Advances in the Astronautical Sciences).

Nishikori, Shinji ; Hokamoto, Shinji. / Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement. Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. 2010. pp. 667-679 (Advances in the Astronautical Sciences).

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Evaluation of efficient attitude of a multi-legged planetary exploration rover with isotropic leg arrangement

Abstract

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All Science Journal Classification (ASJC) codes

UN SDGs

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