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  1. 080 繊維学部
  2. 0801 学術論文

Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage

http://hdl.handle.net/10091/17796
c7b1f0d4-435d-4735-96f4-06581b96bd1b
名前 / ファイル ライセンス アクション
Development_Grousers_Tactile_Sensor.pdf Development_Grousers_Tactile_Sensor.pdf (1.0 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2014-08-06
タイトル
言語 en
タイトル Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage
言語
言語 eng
キーワード
主題Scheme Other
主題 Lunar Exploration Rovers
キーワード
主題Scheme Other
主題 Loose Soil
キーワード
主題Scheme Other
主題 Grouser
キーワード
主題Scheme Other
主題 Tactile Sensor
キーワード
主題Scheme Other
主題 Strain Gauge
資源タイプ
資源 http://purl.org/coar/resource_type/c_6501
タイプ journal article
著者 Iizuka, Kojiro

× Iizuka, Kojiro

WEKO 40376

Iizuka, Kojiro

Search repository
Sasaki, Tatsuya

× Sasaki, Tatsuya

WEKO 40377

Sasaki, Tatsuya

Search repository
Yamano, Mitsuhiro

× Yamano, Mitsuhiro

WEKO 40378

Yamano, Mitsuhiro

Search repository
Kubota, Takashi

× Kubota, Takashi

WEKO 40379

Kubota, Takashi

Search repository
出版者
出版者 INTECH EUROPE
引用
内容記述タイプ Other
内容記述 INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS. 11:49 (2014)
書誌情報 INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS

巻 11, p. 49, 発行日 2014-03-26
抄録
内容記述タイプ Abstract
内容記述 This paper presents a grouser developed for the wheels of lunar exploration rovers to measure sinkage. The wheels, which are intended to traverse loose soil such as lunar regolith, contain grousers that transfer thrust to the wheels and thus to the body of the rover. The interaction between the wheel (with grousers) and the loose soil can be described using a kinematic model. When traversing loose soil, the wheel sinks into the soil, which necessitates knowledge of the entrance angle needed in order to avoid this problem. If the entrance angle is known, the sinkage can be measured in real time before adverse conditions occur. Because of the importance and usefulness of detecting the entrance angle of the wheel, we herein propose a grouser with an embedded tactile sensor. A strain gauge on the surface of the grousers serves as the tactile sensor. In order to confirm the precision of the proposed grouser, we have performed tests on a rigid surface and loose soil surfaces.
資源タイプ(コンテンツの種類)
内容記述タイプ Other
内容記述 Article
ISSN
収録物識別子タイプ ISSN
収録物識別子 1729-8806
DOI
関連識別子
識別子タイプ DOI
関連識別子 https://doi.org/10.5772/57361
関連名称
関連名称 10.5772/57361
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
WoS
表示名 Web of Science
URL http://gateway.isiknowledge.com/gateway/Gateway.cgi?&GWVersion=2&SrcAuth=ShinshuUniv&SrcApp=ShinshuUniv&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000333418900001
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