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Mobility Mechanism of Micro Robot under Micro-Gravity

Research Project

Project/Area Number 12450173
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionInstitute o f Space and Astronautical Science

Principal Investigator

NAKATANI Ichiro  Institute of Space and Aeronautical Science, Spacecraft Engineering Division, Professor, 宇宙探査工学研究系, 教授 (40150049)

Co-Investigator(Kenkyū-buntansha) KUNII Yasuharu  Chuo University, Associate Professor, 理工学部, 助教授 (60297108)
KURODA Yoji  Meiji University, Associate Professor, 理工学部, 助教授 (80281442)
KUBOTA Takashi  Institute of Space and Aeronautical Science, Spacecraft Engineering Division, Associate Professor, 宇宙探査工学研究系, 助教授 (90211888)
YAMAKAWA Hiroshi  Institute of Space and Aeronautical Science, Spacecraft Engineering Division, Associate Professor, 宇宙探査工学研究系, 助教授 (50260013)
YOSHIMITSU Tetsuo  Institute of Space and Aeronautical Science, Spacecraft Engineering Division, Research Associate, 宇宙探査工学研究系, 助手 (60332152)
Project Period (FY) 2000 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥12,200,000 (Direct Cost: ¥12,200,000)
Fiscal Year 2002: ¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 2001: ¥5,200,000 (Direct Cost: ¥5,200,000)
Fiscal Year 2000: ¥5,300,000 (Direct Cost: ¥5,300,000)
KeywordsMobility Mechanism / Micro-Gravity Environment / Hopping Robot / Micro Gravity Experiment / Self-Positioning / Micro Robot / Torquer Actuator / Sun Sensor
Research Abstract

The authors have studied a micro-robot with a new mobility system to move and hop under such micro gravity environment as International Space Station or surface of small body, comets or asteroids. The authors have developed an novel algorithm to move under micro gravity autonomously and safely. The authors also have studied a selfpositioning method to identify the position and attitude of a robot on the surface of small body. The obtained results are as follows.
1. Mobility Mechanism : a new mobility on hopping was proposed and the effectiveness was confirmed by simulations.
2. Position Identification : a new positioning method was developed by the sun sensors.
3. Motion Estimation : a method to estimate motion of a robot during hopping was devebped and the effectiveness was confirmed by simulations.
4. Motion Planning : a path planning scheme was proposed and simulated
5. Micro Gravity Experiments : hopping experiments were performed and the experimental robot with proposed mobility succeeded. In hopping under micro -gravity.
6. Application to Exploration Rover : exploration rover with proposed mechanism was designed and the prototype was devebped.

Report

(4 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • 2000 Annual Research Report
  • Research Products

    (54 results)

All Other

All Publications (54 results)

  • [Publications] T.Yoshimitsu: "Micro Hopping Robot for Asteroid Exploration"Proc. of 4th IAA Int. Conf. on Low-Cost Planetary Missions. IAA-L-1104 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 久保田 孝: "月面探査ローバの自己位置同定手法"ロボティクス・メカトロニクス講演会'2000講演論文集. 2P1-09-008 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Y.Kuroda: "Proposition of Microrover System for Lunar Exploration"Journal of Robotics and Mechatronics. Vol. 12-3. 91-95 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 久保田 孝: "摩擦を利用したホッピングロボットの研究"平成12年度無重量セミナー予稿集. 22-33 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 吉光 徹雄: "小惑星探査マイクロロボットMINERVA"第1回宇宙科学シンポジウム. (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu: "Robotic Lander MINERVA, Its Mobility and Surface Exploration"AAS/AIAA Space Flight Mechanics Meeting. 01-148. (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu: "Nano-Rover MINERVA for Deep Space Exploration"Journal of Machine Intelligence and Robotics Control. Vol.3, No.3. 113-119 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota: "Path Planning for Newly Developed Microrover"Proc. of the 2001 Int. Conf. on Robotics and Automation. No.4. 3710-3715 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota: "New Mobility Using Elastic Energy in the Microgravity"Proc. of 4th IFAC Symposium on Intelligent Autonomous. 249-254 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota: "Newly Developed Microrover System for Lunar Exploration"Proc. of Int. Conf. on Advanced Robotics. 451-456 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Y.Kunii: "Micro Manipulator with Lightweight and Low Power Consumption by using Ultrasonic Motor for Planetary Exploration Mmission"Proc. of Int. Conf. on Advanced Robotics. 457-462 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 吉光 徹雄: "小惑星探査ロボットにおける自律画像評価手法"第45回宇宙科学技術連合講演会予稿集. 01-1D6. (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] I.Nakatani: "New Mobility System Based on Elastic Energy under Microgravity"Proc. of the 2001 Int. Conf. on Robotics and Automation. No.3. 2296-2301 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 久保田 孝: "月・惑星ロボット探査ミッション"第20回日本ロボット学会学術講演会. 1J21 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 久保田 孝: "月面無人地質探査ローバのナビゲーション"第46回宇宙科学技術連合講演会. 2C16 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota: "New Mechanism of Attitude Control for Hopping Robot"Proc. of Int. Conf. on Intelligent Robots and Systems. 2631-2636 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 久保田 孝: "月面探査ローバシステム"第3回システムインテグレーション部門講演会. D44-06 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 吉光 徹雄: "MINERVA FM status and camera calibration"第3回宇宙科学シンポジウム. 3-10 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu et al.: "Micro Hopping Robot for Asteroid Exploration,"Proc. of 4th IAA Int. Conf. on Low-Cost Planetary Missions. IAA-L- 1104 2000.. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "Self-Positioning Scheme for Lunar Exploration Rover (in Japanese)"Proc. of Annual Conf. on Robot Mechatronics. 2P1-09-008. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Y.Kuroda, et al.: "Proposition of Microrover System for Lunar Exploration"Journal of Robotics and Mechatronics. Vol.12 No.3. 91-95 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota: "Study on Hopping Robot using Friction Force (in Japanese)"Seminar on Micro Gravity Environment. 22-33 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu et al.: "Asteroid Exploration Robot MINERVA (in Japanese)"Proc. of 1st Symposium on Space Science. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu et at.: "Robotic Lander MINERVA, Its Mobility and Surface Exploration,"AAS/AIAA Space Flight Mechanics Meeting. 01-148 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu et al: "Nano-Rover MINERVA, for Deep Space Exploration,"Journal of Machine Intelligence and Robotics Control. Vol.3, No.3. 113-119 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "Path Planning for Newly Developed Microrover,"Proc. of the 2001 Int Conf. on Robotics and Automation. No.4. 3710-3715 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "New Mobility Using Elastic Energy in the Microgravity"Proc. of 4th IFAC Symposium on Intelligent Autonomous. 249-254 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "Newly Developed Microrover System for Lunar Exploration,"Proc. of Int. Conf. on Advanced Robotics. 451-456 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Y.Kunii et al.: "Micro Manipulator with Lightweight and Low Power Consumption by using Ultrasonic Motor for Planetary Exploration Mmission,"Proc. of Int. Conf. on Advanced Robotics. 457-462 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu et al.: "Autonomous Image Evaluation Method for Asteroid Exploration Robot,(in Japanese)"Proc. of 45th Annual Conf. on Space Science and Technology. 01-106 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] I.Nakatani et al.: "New Mobility System Based on Elastic Energy under Microgravity,"Proc. of the 2001 Int Conf. on Robotics and Automation. No.3. 2296-2301 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "Robotics Exploration Mission for the Moon or Planets, (in Japanese)"Proc. of 20th Annual Conf. of Japan Robot Society. IJ21. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "Navigation for Lunar Unmanned Exploration Rover, (in Japanese)"Proc. of 46th Annual Conf. on Space Science and Technology. 2C16. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "New Mechanism of Attitude Control for Hopping Robot,"The 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2631-2636 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Kubota, et al.: "Lunar Exploration Rover System, (in Japanese)"Proc. of 3rd Annual Conf. on System and Integration. D44-06. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] T.Yoshimitsu et al.: "MINERVA FM status and camera calibration, (in Japanese)"Proc. of 3rd Symposium on Space Science. 3-10 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] I.Nakatani: "New Mobility System Based on Elastic Energy under Microgravity"Proc.of the 2001 Int.Conf.on Robotics and Automation. No.3. 2296-2301 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 久保田 孝: "月・惑星ロボット探査ミッション"第20回日本ロボット学会学術講演会. 1J21 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 久保田 孝: "月面無人地質探査ローバのナビゲーション"第46回宇宙科学技術連合講演会. 2C16 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] T.Kubota: "New Mechanism of Attitude Control for Hopping Robot"Proc.of Int.Conf.on Intelligent Robots and Systems. 2631-2636 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 久保田 孝: "月面探査ローバシステム"第3回システムインテグレーション部門講演会. D44-06 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 吉光 徹雄: "MINERVA FM status and camera calibration"第3回宇宙科学シンポジウム. P3-10 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] T.Yoshimitsu: "Nano-Rover MINERVA for Deep Space Exploration"Journal of Machine Intelligence and Robotics Control. Vol.3,No.3. 113-119 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] T.Kubota: "Path Planning for Newly Developed Microrover"Proc. of the 2001 Int. Conf. on Robotics and Automation. No.4. 3710-3715 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] T.Kubota: "New Mobility Using Elastic Energy in the Microgravity"Proc. of 4th IFAC Symposium on Intelligent Autonomous. 249-254 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] T.Kubota: "Newly Developed Microrover System for Lunar Exploration"Proc. of Int. Conf. on Advanced Robotics. 451-456 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Y.Kunii: "Micro Manipulator with Lightweight and Low Power Consumption by using Ultrasonic Motor for Planetary Exploration Mmission"Proc. of Int. Conf. on Advanced Robotics. 457-462 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 吉光 徹雄: "小惑星探査ロボットにおける自律画像評価手法"第45回宇宙科学技術連合講演会予稿集. 01-1D6. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] T.Yoshimitsu: "Micro Hopping Robot for Asteroid Exploration"Proc.Of 4th IAA International Conference on Low-Cost Planetary Missions. IAA-L-1104. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 久保田孝: "月面探査ローバの自己位置同定手法"ロボティクス・メカトロニクス講演会2000講演論文集. 2P1-09-008. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Y.Kuroda: "Proposition of Microrover System for Lunar Exploration"Journal of Robotics and Mechatronics. Vol.12.,No.3. 91-95 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 久保田孝: "摩擦を利用したホッピングロボットの研究"平成12年度無重量セミナー予稿集. 22-33 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 吉光徹雄: "小惑星探査マイクロロボットMINERVA"第1回宇宙科学シンポジウム. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] T.Yoshimitsu: "Robotic Lander MINERVA, Its Mobility and Surface Exploration"AAS/AIAA Space Flight Mechanics Meeting. 01-148. (2001)

    • Related Report
      2000 Annual Research Report

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Published: 2000-04-01   Modified: 2016-04-21  

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