2P1-D17 軟弱地盤や急斜面の走行を可能とする面接触型移動ロボットの設計と開発

概要

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Explorations of planetary rovers in Mars and the moon are very significant to clarify the origin of the solar system and life on earth. However, the wheels of planetary rovers sometimes slip or lose contact with the ground while traversing a sandy terrain. In the worst case, wheels may get stuck in loose soil. With consideration of the above situations, the authors developed a new locomotion mechanism without wheels or tracks, called "Surface-contact-type locomotion". In this mechanism, wide plates alternately contact with the ground for its locomotion, and it does not corrupt the contact surface. Therefore, the mechanism has very high movability on weak soils and steep slopes with comparison of wheels or tracks. In this paper, we explain details of our locomotion system and report a validity of the mechanism through some experiments.
2009-05-25