Study on wheeled forms of lunar robots for traversing soft terrain

Kojiro Iizuka, Yasuharu Kunii, Takashi Kubota

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2010-2015
ページ数6
DOI
出版ステータスPublished - 2008 12 1
外部発表はい
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9 222008 9 26

出版物シリーズ

名前2008 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

ASJC Scopus subject areas

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

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