Robot Control for Lunar, Planetary and Asteroid Exploration with Understanding of Geometry and Physical Characteristics of the Environment
| Project/Area Number |
21246122
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Aerospace engineering
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| Research Institution | Tohoku University |
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Principal Investigator |
YOSHIDA Kazuya 東北大学, 大学院・工学研究科, 教授 (00191578)
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| Co-Investigator(Kenkyū-buntansha) |
NAGATANI Keiji 東北大学, 大学院・工学研究科, 准教授 (80314649)
KENJI Nagaoka 東北大学, 大学院・工学研究科, 助教 (60612520)
中西 洋喜 東北大学, 大学院工学研究科, 助手 (90361120)
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| Project Period (FY) |
2009 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥43,290,000 (Direct Cost: ¥33,300,000、Indirect Cost: ¥9,990,000)
Fiscal Year 2012: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
Fiscal Year 2011: ¥10,010,000 (Direct Cost: ¥7,700,000、Indirect Cost: ¥2,310,000)
Fiscal Year 2010: ¥12,870,000 (Direct Cost: ¥9,900,000、Indirect Cost: ¥2,970,000)
Fiscal Year 2009: ¥13,000,000 (Direct Cost: ¥10,000,000、Indirect Cost: ¥3,000,000)
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| Keywords | 月惑星探査 / 移動ロボット / 地形計測 / 走行制御 / スリップ推定 / レーザーレン ジセンサ / 全方位カメラ / はやぶさ２ / レーザーレンジセンサ |
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| Research Abstract |
Robotics technologies for lunar, planetary and asteroid exploration were investigated with understanding of geometry and physical characteristics of the environment. Traction model of wheels and tracks for traversing over loose-soil terrain was studied. Rover localization with integrating different types of sensors was also investigated and tested in outdoor field.
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Report
(5 results)
Research Products
(42 results)
