Study on wheeled forms of lunar robots for traversing soft terrain

Kojiro Iizuka, Yasuharu Kunii, Takashi Kubota

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

6 Citations (Scopus)

Abstract

Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. Recently, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. The important parameters are extracted by considering the mechanism. This paper proposes an elastic wheel by considering the important parameters. The elastic wheel has the surface which can be changed flexibly toward rough terrain. Running experiments on soil which imitated regolith are carried out to observe the traversability of the elastic wheel using slip ratio and sinkage.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2010-2015
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Iizuka, K., Kunii, Y., & Kubota, T. (2008). Study on wheeled forms of lunar robots for traversing soft terrain. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2010-2015). [4651219] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4651219