書誌事項
- タイトル別名
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- 2A2-D08 Study on Wheel with Function of Sinkage Detection on loose soil(Wheeled Robot / Tracked Vehicle (2))
抄録
This paper presents the sinkage sensing using the grouser embed a function to measure reaction from soil for wheels of lunar rovers. The wheels that traverse loose soil like lunar surface have the grousers like puddle. The grousers transfer the trust to the wheels or the body of rovers. Therefore, the grousers are needed to traverse loose soil for wheels of lunar rovers. The interaction between the wheel with grousers and loose soil can be expressed using kinematic model. Moreover, when the wheel is traversing loose soil, the wheel sinks into soil. If the rover knows usually the sinkage, it does not become the poor condition. It is very important and effective to detect the inserting angle of the wheel to understand usually the sinkage on time. In this paper, we develop the sensing wheel with the grousers with a tactile sensor to detect the sinkage. From experiments using, we discuss about the effectiveness of this proposed wheel.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _2A2-D08_1-_2A2-D08_3, 2014
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390001205939327104
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- NII論文ID
- 110009966950
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可