軌道上自律移動ロボット技術の実験研究:宇宙インフラストラクチャー技術の研究

Material type: 文書・図像類

Author: 上野, 浩史ほか

Publisher: 宇宙航空研究開発機構

Publication date: 2006-01-20

Material Format: Digital

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Note (General)：: The locomotion on space structures is one of important technologies needed for future space activities such as assembly or maintenance of space system...

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Material Type: 文書・図像類
Title: 軌道上自律移動ロボット技術の実験研究:宇宙インフラストラクチャー技術の研究
Author/Editor: 上野, 浩史
小田, 光茂
稲葉, 一幸
巳谷, 真司
Ueno, Hiroshi
Oda, Mitsushige
Inaba, Kazuyuki
Mitani, Shinji
Author Heading: 上野, 浩史
小田, 光茂
稲葉, 一幸
巳谷, 真司
Ueno, Hiroshi
Oda, Mitsushige
Inaba, Kazuyuki
Mitani, Shinji
Publication, Distribution, etc.: 宇宙航空研究開発機構
Publication Date: 2006-01-20
Publication Date (W3CDTF): 2006-01-20
Alternative Title: Experiment research on autonomous movement robot technology on orbit: Research on space infrastructures
Periodical title: 宇宙航空研究開発機構特別資料: 平成16年度総合技術研究本部宇宙領域宇宙科学研究本部合同研究成果報告書:先行研究等 = JAXA Special Publication: FY2004 Report of Joint Research Achievements of the Space Division of Institute of Aerospace Technology and Institute of Space and Astronautical Science: Pioneering Research
No. or year of volume/issue: JAXA-SP-05-011
Volume: JAXA-SP-05-011
Pages: 35-40
ISSN (Periodical Title): ISSN : 1349-113X
Text Language Code: jpn
Subject Heading: 大型宇宙構造物
ISS
移動
歩行ロボット
ロボット制御
ロボットダイナミクス
有人軌道実験室
自律移動
フィードバック制御
large space structure
locomotion
walking robot
robot control
robot dynamics
manned orbital laboratory
autonomous movement
feedback control
Target Audience: 一般
Note (General): The locomotion on space structures is one of important technologies needed for future space activities such as assembly or maintenance of space systems. The walking robot on the structures has safety nature over a free-flying robot and advantages of the additional infrastructure over a fixed manipulator on mobile platform. In this paper, the four-legged robot that is capable of the walking on the space structures is discussed in terms of the potential missions and its technologies. The ground based experimental model has been build and has performed the autonomous stepping by using tip visual feedback adjustment. In addition, I carried out effectiveness evaluation of the vibration estimate algorithm that, MIT (Massachusetts Institute of Technology) and JAXA developed.
資料番号: AA0049057010
レポート番号: JAXA-SP-05-011
Access Restrictions: 限定公開
Periodical Title (NCID): AA11984031
https://ci.nii.ac.jp/ncid/AA11984031
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 宇宙航空研究開発機構 : 宇宙航空研究開発機構リポジトリ