B203 アクティブサスペンションを有する探査ロボットの走行性能評価(OS13 月・惑星探査ロボットの運動と制御4)

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 and legged locomotive system. However, the wheeled robots have low travarsability. In planetary missions, a rover which has high traversability is required. To traverse more stricticaly load, it is not enough to use only passive suspension. One of the methods to improve the traversability of a rover is to use active suspension. ESA proposed the rover which has the RCL-E system, which has active suspension and high traversability. However, the RCL-E system has a large weight, high energy consumption, and high complexity because it needs many motors. For this reason, the authors propose a new mobility system with active suspension, which has high efficiency and high traversability. This rover is equipped with 4 motors in each leg for active suspension. This improves the ability of climbing slopes, stability from tip over, navigating over obstacles, and escaping from loose soil. This paper focuses on navigating over obstacle. Through simulations, the authors show the effectiveness in the ability of navigating over obstacle by using active suspension.
一般社団法人日本機械学会の論文
2011-06-28