Title :
Study on Wheel of Exploration Robot on Sandy Terrain
Author :
Iizuka, Kunihiko ; Sato, Yoshinori ; Kuroda, Yoji ; Kubota, Takashi
Author_Institution :
Dept. of Electr., Electron., & Commun. Eng., Chuo Univ., Tokyo
Abstract :
In future planetary exploration missions, robots are required to traverse over very rough terrain. On the surface of the moon there are covered with soils, which is named regolith. Regolith is easy to slide. Any stack may occur to the robots that are running on the regolith. Some researchers have studied the mobility system for robots. However the optimal and robust mobility systems have not been developed yet. For producing high traversability, this paper proposes a new wheel system, considering the characteristic of soil made a new wheel
Keywords :
aerospace robotics; mobile robots; planetary surfaces; robot dynamics; wheels; exploration robot; high traversability; planetary exploration missions; regolith; sandy terrain; wheel; Earth; Intelligent robots; Mechanical engineering; Mobile robots; Moon; Orbital robotics; Rough surfaces; Soil; Surface roughness; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281956
