DocumentCode
2935815
Title
Study on Mole-Typed Deep Driller Robot for Subsurface Exploration
Author
Kubota, Takashi ; Nakatani, Ichiro ; Watanabe, Keisuke ; Shimoda, Shingo
Author_Institution
Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency 3-1-1, Yoshinodai, Sagamihara, 229-8510 JAPAN kubota@nnl.isas.ac.jp
fYear
2005
fDate
18-22 April 2005
Firstpage
1297
Lastpage
1302
Abstract
This paper presents a mobile robotic system designed to perform deep soil sampling for lunar subsurface exploration in the near future. Drilling robots have to carry the excavated regolith backward because of its high density. Therefore a new scheme is proposed, to move forward under the soil by making use of reactive force caused by pushing the discharged regolith. Simple experiments demonstrate the effectiveness of the proposed method.
Keywords
Driller Robot; Driving Mechanism in Soil; Subsurface Exploration; Boring; Drilling; Energy consumption; Mobile robots; Moon; Orbital robotics; Planets; Robotics and automation; Sampling methods; Soil; Driller Robot; Driving Mechanism in Soil; Subsurface Exploration;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570294
Filename
1570294
Link To Document