1A2-C02 惑星探査ロボットの不整地走破性能の検討

概要

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Rovers which have wheeled locomotive system are used broadly in planetary missions, because wheeled locomotive system has low energy consumption and its configuration is simpler than other types of locomotive system, such as tracked locomotive system. However, the wheeled robots have low travarsability. In planetary missions, a rover which has high traversability is required. First, to traverse over more challenging terrain, the authors propose a new rover with active suspension which has high efficiency and high traversability. Second, the authors propose a method to control the active suspension system to improve traversability. Finally, through simulation, the authors show the effectiveness in the ability of climbing slopes and stability from tip over when traversing various rough terrain using active suspension.