書誌事項
- タイトル別名
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- Locomotion on Truss Structure of Dual-Arm Space Robot.
- ソウワン オ ユウスル ウチュウ ロボット ニ ヨル トラス コウゾウ ブツジョウ ノ ロコモーション
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抄録
This paper presents the locomotion of a space robot on a truss structure using its dual-arm manipulators. At the beginning of the locomotion on the truss structure, the space robot holds the truss with its dual-arm manipulators. And it releases one arm from the truss using the position control, and it grasps the truss using the target tracking and active limp control. Active limp control is introduced to release the force and torque between the manipulator and truss structure. It moves its body by the manipulator using the dual-arm control. And it releases the other arm from the truss and grasps it again. It continues above motion to walk on the truss structure. The effectiveness of the proposed method is shown in a simulation experiment of a locomotion on a truss structure on an air-bearing test-bed using the ground model of a space robot with a dual-arm manipulator.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 17 (1), 140-146, 1999
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204727217024
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- NII論文ID
- 10002865492
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 3087163
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可