1P1-K04 軟弱地盤での大幅な走行性能向上を目指した大径車輪型ロボットの開発とフィールド実験(車輪型/クローラ型移動ロボット)

概要

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Terrain of planets, such as Mars and the moon, is mostly covered with loose soil, boulders and rocks, whose features are basically unknown. So, planetary rovers are required high mobility performance to traverse not only over sands but also over boulders and rocks. According to our past researches, we understood that large diameter wheels and large lugs were effective to produce such high mobility performance on rough and weak terrains. So, in this research, we developed two-wheeled robots which have large diameter wheels and large lugs. We examined it's mobility performance on variety of fields such as volcano and coast. Our experimental result indicates that there is a close connection between the rover's mobility performance and the soil density, and our developed robots have high mobility performance to traverse over sands, boulders and rocks.
2011-05-26