Development of crawler robot with pile units to traverse loose soil with steep slope

Kojiro Iizuka, Hirofumi Komatsu, Takashi Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Rovers are the most important devices for planetary exploration. Rovers are required to traverse many situation of ground, on various form's stones, loose soil, steep slope etc. There are some technologies that large obstacles such as stones can be avoided by using cameras or lasers. However, it is extremely difficult for rovers to traverse loose soil, especially "loose soil with steep slope". If the area being traversed is sloped, these rovers might not work. During a lunar exploration mission, rovers must be able to traverse slopes. Lunar surfaces are mainly characterized by loose soil called regolith, and the ground is very steep around craters. We developed a crawler robot to adapt such condition. Proposed rover has an ability to traverse loose soil with steep slope. It is to use the shearing strength of soil. This means that we use characteristic of soil that the shearing strength of deeply soil areas was very strong compared with surface of ground. If the rovers can make use of the deep area of loose soil, they may be able to support their weight on slopes with loose soil. Therefore, we employ piles to penetrate into the deep area of loose soil. We combined the crawler robot and piles units. The experimental results are shown the high performance of the proposed crawler robot with piles units on uneven ground and loose soil.

Original languageEnglish
Title of host publicationAn Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications
PublisherSpringer Verlag
Pages169-178
Number of pages10
Volume208 AISC
ISBN (Print)9783642373732
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012 - Gwangju, Korea, Republic of
Duration: 2012 Dec 162012 Dec 18

Publication series

NameAdvances in Intelligent Systems and Computing
Volume208 AISC
ISSN (Print)21945357

Other

Other1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012
CountryKorea, Republic of
CityGwangju
Period12/12/1612/12/18

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Keywords

  • Crawler robot
  • Loose soil
  • Piles
  • Steep soil

ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

Cite this

Iizuka, K., Komatsu, H., & Kubota, T. (2013). Development of crawler robot with pile units to traverse loose soil with steep slope. In An Edition of the Presented Papers from the 1st International Conference on Robot Intelligence Technology and Applications (Vol. 208 AISC, pp. 169-178). (Advances in Intelligent Systems and Computing; Vol. 208 AISC). Springer Verlag. https://doi.org/10.1007/978-3-642-37374-9_17