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KAKEN_24760222seika.pdf
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Title |
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包括的な力学モデルに基づく月惑星探査ロボットの走行システム設計に関する研究
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ホウカツテキナ リキガク モデル ニ モトズク ツキ ワクセイ タンサ ロボット ノ ソウコウ システム セッケイ ニ カンスル ケンキュウ
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Hokatsutekina rikigaku moderu ni motozuku tsuki wakusei tansa robotto no soko shisutemu sekkei ni kansuru kenkyu
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Experimental approach for comprehensive wheel-soil interaction mechanics and statistical design method for mobility system of planetary exploration robot
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石上, 玄也
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イシガミ, ゲンヤ
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Ishigami, Genya
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慶應義塾大学・理工学部・機械工学科・講師
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Research team head
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科研費研究者番号 : 90581455
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2015
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科学研究費補助金研究成果報告書
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2014
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本研究は, 優れた不整地走破性能を有するロボット走行システムの実現を目的とし, 不整地走行における車輪力学モデルの構築および走行システムの最適設計手法にそれぞれ取り組んだ。本研究の成果は主に, 統合的な車輪試験装置・車輪実装型センサシステムを開発し, 従来の実験系では不明であった車輪の力学現象に対して, 極めて精密な現象理解に迫ることが可能となったこと, また, 計算コストの低い車輪の最適設計手法を示したこと, これら研究について, 招待講演や表彰を受けたことに集約される。
In this research project, a comprehensive wheel test apparatus that employs an in-wheel sensor system and a particle image velocimetry technique has been developed. The test bed achieves a precise observation of wheel-soil interaction mechanics including wheel pressure, wheel sinkage, soil flow, and wheel dynamic behavior, which were not well clarified by classical experimental approaches. This research also proposed a method that provides the most feasible wheel size for off-road traction. The method finds a wheel radius and width that maximizes wheel traction performance, with less computational cost. These outcomes were presented in more than twenty five papers/books (incl. domestic conference) and in an invited talk at an international conference.
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研究種目 : 若手研究(B)
研究期間 : 2012~2014
課題番号 : 24760222
研究分野 : 移動ロボット, テラメカニクス
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Jul 30, 2019 | | 著者,抄録 内容,著者版フラグ を変更 |
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