DocumentCode
3186025
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
fYear
2006
fDate
9-15 Oct. 2006
Firstpage
4272
Lastpage
4277
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2006.281956
Filename
4059083
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