TY - GEN
T1 - A study of locomotion mechanism based on gravitational environment
AU - Takahashi, Kei
AU - Shimoda, Shingo
AU - Iizuka, Kojiro
AU - Kubota, Takashi
AU - Nakatani, Ichiro
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=14044273029&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=14044273029&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:14044273029
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 4001
EP - 4006
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -