3次元等方多脚形状を有する探査ローバーの運動解析

抄録

This study discusses the dynamic locomotion of a multi-legged planetary exploration rover, which has isotropic leg arrangements. Because of the isotropic shape, the rover keeps the mobility even in extremely rough terrains. This study investigates the effective locomotive patterns for various conditions, e.g. speed, slope, gravity, etc. This paper reintroduces the rover's dynamic equations from Lagrange equation of motion. Then, reaction forces from a ground due to leg motion are discussed, so that the force can generate both the rover's walking and rotational motions. In this paper, a simple rhythmical locomotion of the rover is numerically simulated to verify the equation of motion.