A study of locomotion mechanism based on gravitational environment
A study of locomotion mechanism based on gravitational environment
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基于重力环境的运动机制研究
DOI：
10.1109/iros.2004.1390040
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
T. Kubota
中科院分区：
文献类型：
--
作者：
Kei Takahashi;S. Shimoda;K. Iizuka;T. Kubota
机动性的性能高度依赖于重力环境。一些研究人员提出了一种新的运动方法，用于像小行星这样极小的地球物体。在微重力条件下，跳跃是一种可行的方法。然而，对于给定的重力水平，并不能证明所提出的运动方法是最佳的。本文的目的是分析每种机构的最佳重力水平，以及每种重力水平下哪种机构或参数是最佳的。首先，对运动机理进行了分类。接下来，比较了跳跃机器人和轮式机器人的速度。最后，对轮式机器人的具体移动特性进行了仿真分析。
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.