A5079429902- Soil Mechanics and Vehicle Dynamics
- Robotic Locomotion and Control
- Planetary Science and Exploration
- Robotic Path Planning Algorithms
- Space Exploration and Technology
- Agricultural Engineering and Mechanization
- Granular flow and fluidized beds
- Modular Robots and Swarm Intelligence
- Transportation Safety and Impact Analysis
- Control and Dynamics of Mobile Robots
- Robotics and Sensor-Based Localization
- Spacecraft and Cryogenic Technologies
- Tree Root and Stability Studies
- Educational Robotics and Engineering
- Sports Dynamics and Biomechanics
- Hydraulic and Pneumatic Systems
- Nanotechnology research and applications
- Guidance and Control Systems
- Computational Physics and Python Applications
- Agriculture and Farm Safety
- Geotechnical and Geomechanical Engineering
- Optical Wireless Communication Technologies
- Aerospace Engineering and Control Systems
- Simulation and Modeling Applications
- Robotics and Automated Systems
Japan Aerospace Exploration Agency
2013-2024
Shinshu University
2018-2019
Ōtani University
2018
Tohoku University
2010-2013
Abstract In designing a planetary rover, it is important to consider and evaluate the influence of parameters such as weight dimensions rover on its traveling performance. this study, rover's performance was evaluated by conduct experiments using monotrack an inline four‐wheeled with different weights. Then wheel diameter width quantitatively determined performing two‐wheeled equipped wheels, diameters widths. The results were compared those numerical simulation based terramechanics....
This article presents a comprehensive path-planning method for lunar and planetary exploration rovers. In this method, two new elements are introduced as evaluation indices path planning: 1) determined by the rover design 2) derived from target environment. These defined rover's internal external elements, respectively. article, locomotion mechanism insolation (i.e., shadow) conditions were considered to be that ensure safety energy, influences of these on planning described. To examine...
Studying the gravity-dependent characteristics of regolith, fine-grained granular media covering extra-terrestrial bodies is essential for reliable design and analysis landers rovers space exploration. In this study, we propose an experimental approach to examine a flow under stable artificial gravity conditions long duration generated by centrifuge at International Space Station. We also perform discrete element simulation in both natural environments. The results verify that flows are...
This paper introduces a novel nano rover designed to transform its shape for efficient movement on lunar surfaces. The rover, resembling compact ball, has diameter of roughly 80 mm and weights around 250 g. Its transformational mechanism allows compactness during planetary transportation, with enhanced mobility achieved through the use extendable wheels, tail stabilizer, cameras. To traverse soft terrains efficiently, utilizes an eccentric wheel mechanism, offering two distinct modes based...
Future planetary rovers are expected to probe across steep sandy slopes such as crater rims where wheel slippage can be a critical problem. One possible solution is equip locomotion mechanisms with redundant actuators so that the able actively reconfigure themselves adapt target terrain. This study modeled reconfigurable rover analyze effects of posture change on over slopes. The also investigated control strategies for reduce slippage. proposed mechanical model consists two models: complete...
The motion behavior of a skid-steering rover on loose terrain is modeled experimentally, and position estimation method based the model proposed. Skid steering adopted for various vehicles robots. In this method, steer by controlling ratio between rotational velocities their left right wheels. For rover, whose wheels can slip lunar planetary surfaces, which are covered with regolith, it important to accurately rover's behaviors terrain. To end, we conducted traveling tests using four-wheeled...
Future planetary rovers are expected to probe over steep sandy slopes, such as crater rims, where wheel slippage can be a critical issue. One solution this issue is mount redundant actuators on the locomotion mechanisms of that they actively reconfigurate themselves adapt driven terrain. In study, we propose mechanical model rover based wheel-soil contact combined with classical terramechanic theory. The effects reconfiguration its tendencies analyzed slope traversing experiments and...
Rovers that are used to explore craters on the Moon or Mars require mobility negotiate sandy slopes, which slippage can easily occur. Such be reduced by actively readjusting attitude of rovers. By changing attitude, rovers modify position their center gravity and wheel-soil contact angle. In this study, we discuss effects changes downhill sideslip based slope failure mechanism experiments reconfiguring rover wheel angles. We conducted slope-traversing using a wheeled under various roll...
The surfaces of both the Moon and Mars are covered with loose soil, numerous steep slopes along their crater rims. Therefore, one most important requirements imposed on planetary rovers is ability to minimize slippage while climbing slopes, i.e., generate a drawbar pull only small amount slippage. To this end, wheels/tracks typically have parallel fins called lugs (i.e., grousers) surface. Recent studies reported that these can substantially improve traveling performances rovers. in study,...
In this paper, we investigate and model the motion behaviors in atmosphere vacuum of landing gear a lunar probe, which contacts granular material covering surface. Drop friction tests were conducted using footpads lander on regolith simulant. drop tests, dropped onto The impact characteristics then analyzed. having varying shapes slid sliding evaluated. showed that simulant ejected by footpad diminished, penetration significantly decreased vacuum. confirmed sinkage caused generally increased...
This letter addresses the influences of footpad shape and ground condition on motion behavior a lander in vacuum. To evaluate influences, we first developed drop test apparatus that can conduct repeated tests vacuum chamber. The were then conducted with various shaped footpads different surface conditions. Subsequently, was modeled, based resistance force theory (RFT) its penetration characteristics numerically analyzed. usefulness RFT model discussed along experimental results. Finally,...
One of the most important requirements imposed on planetary rovers is ability to minimize slippage while climbing slopes covered with loose soil. Therefore, at design stage rovers, it necessary evaluate traveling performance their locomotion mechanisms over a slope. However, conduct tests slopes, sandbox in which are conducted must be tilted; difficult and even dangerous make steep slope because heavy weight sandbox. this paper, we propose new method for estimating wheeled rover In method,...
Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, wheels planetary can get stuck loose soil, and exploration mission may fail this situation. To avoid slippage increase wheels' drawbar pull, typically have parallel fins called lugs their surface. In study, we conducted experiments using two-wheeled testbeds sandbox to provide quantitative confirmation influence traversability rovers. paper, report results experiments, discuss
The exploration and utilization of water resources on the Moon are substantial global interest. To utilize lunar construct bases, construction machinery should travel over surface (which is mainly covered with powdery regolith) excavate regolith. However, various technical issues be resolved to achieve this efficiently. In study, a new platform rover was developed, its motion behavior analyzed better understand traveling excavation behaviors Moon. four-track vehicle equipped robotic arm...
Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, wheels planetary can get stuck loose soil, and exploration mission fail this situation. To avoid slippage increase wheels' drawbar pull, typically have lugs, i.e., grousers, their surface. In study, we conducted experiments using two-wheeled testbeds sandbox to evaluate influence lugs traversability wheeled mobile robots. According experimental results, confirmed that...
The surfaces of the Moon and Mars are covered with loose soil. In such conditions, planetary rovers can get stuck even cause failure an exploration mission. To avoid problems, wheels typically have lugs (i.e., grousers) on their surface, which substantially improve traveling performance. However, there exists no theoretical method to determine a suitable lug interval. this study, we first modeled linear speed wheel provided guidelines for determining interval, as well corresponding...