1A2-K09 スポーク車輪を有する軟弱地盤移動ロボットの構築と走行性能の評価(宇宙ロボティクス・メカトロニクス)

概要

論文の詳細を見る
Mobile robots play an important part in planetary or volcano exploration. However, their fields are covered with loose soil. Therefore, wheels of the robots may slip and, in the worst case scenario, they get stuck into the weak soil. To deal with this problem, spoked wheels that have long spokes radially may have a good performance to traverse on such loose soil. In this study, we developed a mobile robot with spoked wheels and conducted experiments using the robot with different spoke parameters in various environments. In this paper, we first explain the mobile robot with spoked wheels and the experiments using the robot. Furthermore, we introduce an improved version of the robot with spoked wheels on the basis of the evaluation in the experiments.
一般社団法人日本機械学会の論文
2011-05-26