Robot Control for Lunar, Planetary and Asteroid Exploration with Understanding of Geometry and Physical Characteristics of the Environment

• Project/Area Number: 21246122
• Research Category: Grant-in-Aid for Scientific Research (A)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Aerospace engineering
• Research Institution: Tohoku University
• Principal Investigator: YOSHIDA Kazuya 東北大学, 大学院・工学研究科, 教授 (00191578)
• 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)
• Project Period (FY): 2009 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥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)
• 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

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.

Research Products

• [Journal Article] 伊豆大島における不整地移動ロボットの走行試験および自己位置推定試験 (2012)
  • Author(s): 永谷圭司,大木健,NathanBritton,佐藤毅一,野寄敬博,高橋悠輔,山内元貴,秋山健,吉田和哉
  • Journal Title: 日本惑星科学会誌 Volume: Vol.21,No.2 Pages: 121-129
  • NAID: 10031083504
  • URL: http://ci.nii.ac.jp/naid/110009477301
  • Peer Reviewed
• [Journal Article] Traveling PerformanceEvaluation of Planetary Rovers on Loose Soil (2012)
  • Author(s): Masataku Sutoh, Junya Yusa,Tsuyoshi Ito, Keiji Nagatani, KazuyaYoshida
  • Journal Title: Journal of Field Robotics Volume: Vol. 29 Issue: 4 Pages: 648-662
  • DOI: 10.1002/rob.21405
  • Peer Reviewed
• [Journal Article] Local Path Planner forMobile Robot in Dynamic Environment based on Distance Time Transform Method (2012)
  • Author(s): Takeshi Ohki, Keiji Nagatani, KazuyaYoshida
  • Journal Title: Advanced Robotics Volume: Vol. 26 Issue: 14 Pages: 1623-1647
  • DOI: 10.1080/01691864.2012.694648
  • Peer Reviewed
• [Journal Article] 伊豆大島における不整地移動ロボットの走行試験および自己位置推定試験 (2012)
  • Author(s): 永谷 圭司，大木 健，Nathan Britton，佐藤 毅一，野寄 敬博，高橋 悠輔，山内 元貴，秋山 健，吉田 和哉
  • Journal Title: 日本惑星科学会誌 Volume: Vol. 21, No. 2 Pages: 121-129
  • NAID: 10031083504
  • Peer Reviewed
• [Journal Article] Development ofleg-track hybrid locomotion to traverse loose slopes and irregular terrain (2011)
  • Author(s): Keiji Nagatani, Hiroaki Kinoshita, Kazuya Yoshida, Kenjiro Tadakuma,Eiji Koyanagi
  • Journal Title: Journal of Field Robotics Volume: Vol.28 Issue: 6 Pages: 950-960
  • DOI: 10.1002/rob.20415
  • Peer Reviewed
• [Journal Article] Planetary rovers' wheel-soil interaction mechanics: new challenges andapplications for wheeled mobile robots (2011)
  • Author(s): Liang Ding, Zongquan Deng, Haibo Gao,Keiji Nagatani, Kazuya Yoshida
  • Journal Title: Journal of Intelligent Service Robotics Volume: Vol.4 Issue: 1 Pages: 17-38
  • DOI: 10.1007/s11370-010-0080-5
  • Peer Reviewed
• [Journal Article] Experimental study and analysis ondriving wheels performance for planetary exploration rovers moving in deformable soil (2011)
  • Author(s): Liang Ding, Haibo Gao, Zongquan Deng,Keiji Nagatani, Kazuya Yoshida
  • Journal Title: Journal of Terramechanics Volume: Vol. 48 Issue: 1 Pages: 27-45
  • DOI: 10.1016/j.jterra.2010.08.001
  • Peer Reviewed
• [Journal Article] OdometryCorrection Using Visual Slip-AngleEstimation for Planetary ExplorationRovers (2010)
  • Author(s): Giulio Reina, Genya Ishigami, KeijiNagatani, Kazuya Yoshida
  • Journal Title: Advanced Robotics Volume: Vol. 24 Issue: 3 Pages: 359-385
  • DOI: 10.1163/016918609x12619993300548
  • Peer Reviewed
• [Journal Article] Odometry Correction Using Visual Slip-Angle Estimation for Planetary Exploration Rovers (2010)
  • Author(s): Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida
  • Journal Title: Advanced Robotics 24 Pages: 359-385
  • NAID: 10027464080
  • Peer Reviewed
• [Journal Article] Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain (2009)
  • Author(s): Genya Ishigami , Keiji Nagatani ,Kazuya Yoshida
  • Journal Title: Journal of Field Robotics Volume: Vol. 26 Pages: 264-286
  • Peer Reviewed
• [Journal Article] Achievementsin Space Robotics (2009)
  • Author(s): Kazuya Yoshida
  • Journal Title: IEEE Robotics andAutomation Magazine Volume: Vol. 16 Issue: 4 Pages: 20-28
  • DOI: 10.1109/mra.2009.934818
  • Peer Reviewed
• [Journal Article] Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain (2009)
  • Author(s): Genya Ishigami, Keiji Nagatani, Kazuya Yoshida
  • Journal Title: Journal of Field Robotics 26 Pages: 264-286
  • Peer Reviewed
• [Journal Article] Achievements in Space Robotics (2009)
  • Author(s): Kazuya Yoshida
  • Journal Title: IEEE Robotics and Automation Magazine 16 Pages: 20-28
  • Peer Reviewed
• [Presentation] Micro-Rover Design and Navigation withMinimal Sensors (2012)
  • Author(s): Nathan Britton, Kazuya Yoshida
  • Organizer: 2012 PISCES Conference
  • Place of Presentation: Hawaii, U.S.A.
  • Year and Date: 2012-11-13
• [Presentation] Slope Traversability Analysis ofReconfigurable Planetary Rovers (2012)
  • Author(s): Hiroaki Inotsume, Masataku Sutoh,Kenji Nagaoka, Keiji Nagatani, KazuyaYoshida
  • Organizer: 2012IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Faro, Portugal
  • Year and Date: 2012-10-10
• [Presentation] 小惑星探査ローバのための繊毛式マイクロホップの動力学解析 (2012)
  • Author(s): 永岡健司,吉田和哉
  • Organizer: 第30回日本ロボット学会学術講演会
  • Place of Presentation: 札幌
  • Year and Date: 2012-09-17
• [Presentation] Ciliary Micro‐hopping Locomotion ofan Asteroid Exploration Robot (2012)
  • Author(s): Kenji Nagaoka, Riku Takano, Takayuki Izumo, Kazuya Yoshida
  • Organizer: International Symposium on ArtificialIntelligence, Robotics and Automation in Space
  • Place of Presentation: Turin, Italy
  • Year and Date: 2012-09-04
• [Presentation] 次期小惑星探査ロボットのための繊毛推進機構の移動特性 (2012)
  • Author(s): 永岡健司,高野陸,出茂嵩之,吉田和哉
  • Organizer: ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: 浜松
  • Year and Date: 2012-05-28
• [Presentation] Evaluation of Influence of SurfaceShape of Locomotion Mechanism onTraveling Performance of PlanetaryRovers (2012)
  • Author(s): Masataku Sutoh, Kenji Nagaoka, KeijiNagatani, Kazuya Yoshida
  • Organizer: 2012 IEEE InternationalConference on Robotics and Automation
  • Place of Presentation: St. Paul, U.S.A.
  • Year and Date: 2012-05-16
• [Presentation] Evaluation of the Reconfiguration Effects of Planetary Rovers on their LateralTraversing of Sandy Slopes (2012)
  • Author(s): Hiroaki Inotsume, Masataku Sutoh, KenjiNagaoka, Keiji Nagatani, Kazuya Yoshida
  • Organizer: 2012 IEEE International Conference on Robotics and Automation
  • Place of Presentation: St. Paul,U.S.A.
  • Year and Date: 2012-05-16
• [Presentation] Analysis of the Traveling Performanceof Planetary Rovers with Wheels Equipped with Lugs over Loose Soil' (2012)
  • Author(s): M. Sutoh, K. Nagatani, K. Yoshida
  • Organizer: Earth and Space 2012
  • Place of Presentation: Pasadena, U.S.A.
  • Year and Date: 2012-04-16
• [Presentation] Traveling performanceestimation for planetary rovers over slope (2011)
  • Author(s): Sutoh, M., Yajima, R., Nagatani, K.,Yoshida, K.
  • Organizer: 2011 IEEE/SICE InternationalSymposium on System Integration(SII)
  • Place of Presentation: Kyoto, Japan
  • Year and Date: 2011-12-22
• [Presentation] Safety path planning for mobile roboton rough terrain considering instability of attitude maneuver (2011)
  • Author(s): Ohki, T., Nagatani, K., Yoshida, K.
  • Organizer: 2011IEEE/SICE International Symposium on System Integration (SII)
  • Place of Presentation: Kyoto, Japan
  • Year and Date: 2011-12-20
• [Presentation] Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index (2011)
  • Author(s): Ishigami, G., Nagatani, K., Yoshida, K.
  • Organizer: 2011 IEEE/RSJ International Conference on IntelligentRobots and Systems (IROS)
  • Place of Presentation: San Francisco, U.S.A.
  • Year and Date: 2011-09-26
• [Presentation] Evaluation of influence of surface shape of wheel ontraveling performance of planetaryrovers over slope (2011)
  • Author(s): Masataku Sutoh, Keiji Nagatani, Kazuya Yoshida
  • Organizer: The 17th International Society of Terrain Vehicle Systems International Conference
  • Place of Presentation: Blacksburg, U.S.A.
  • Year and Date: 2011-09-22
• [Presentation] Traveling performance estimation for planetary rovers over slope (2011)
  • Author(s): Sutoh, M., Yajima, R., Nagatani, K., Yoshida, K.
  • Organizer: 2011 IEEE/SICE International Symposium on System Integration (SII)
  • Place of Presentation: Kyoto, Japan
• [Presentation] Safety path planning for mobile robot on rough terrain considering instability of attitude maneuver (2011)
  • Author(s): Ohki, T., Nagatani, K., Yoshida, K.
  • Organizer: 2011 IEEE/SICE International Symposium on System Integration (SII)
  • Place of Presentation: Kyoto, Japan
• [Presentation] Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index (2011)
  • Author(s): Ishigami, G., Nagatani, K., Yoshida, K.
  • Organizer: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Place of Presentation: San Francisco, USA
• [Presentation] Influence Evaluation of Wheel Surface Profile on Traversability of Planetary Rovers (2010)
  • Author(s): Masataku Sutoh, Tsuyoshi Ito, KeijiNagatani, Kazuya Yoshida
  • Organizer: SI International 2010
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2010-12-21
• [Presentation] Traveling PerformanceEvaluation for Planetary Rovers onWeak Soil (2010)
  • Author(s): M. Sutoh, J. Yusa, K. Nagatani, K.Yoshida
  • Organizer: 10th InternationalSymposium on Artificial Intelligence, Robotics and Automation in Space
  • Place of Presentation: Sapporo, Japan
  • Year and Date: 2010-08-31
• [Presentation] Traveling Performance Evaluation for Planetary Rovers on Weak Soil (2010)
  • Author(s): M.Sutoh, J.Yusa, K.Nagatani, K.Yoshida
  • Organizer: 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space
  • Place of Presentation: Sapporo, Japan
  • Year and Date: 2010-08-31
• [Presentation] Development of leg-track hybridlocomotion to traverse loose slopes and irregular terrain", 2010 IEEE International Workshop on Safety (2010)
  • Author(s): K. Nagatani, H. Kinoshita, K. Yoshida, K. Tadakuma, E. Koyanagi
  • Organizer: Security and Rescue Robotics
  • Place of Presentation: Bremen, Germany
  • Year and Date: 2010-07-27
• [Presentation] Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain (2010)
  • Author(s): K.Nagatani, H.Kinoshita, K.Yoshida, K.Tadakuma, E.Koyanagi
  • Organizer: 2010 IEEE International Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: Bremen, Germany
  • Year and Date: 2010-07-27
• [Presentation] Terramechanics-based High-FidelityDynamics Simulation for WheeledMobile Robot on Deformable RoughTerrain (2010)
  • Author(s): Liang Ding, Keiji Nagatani, Keisuke Sato, Andres Mora, Kazuya Yoshida, Haibo Gao, Zongquan Deng
  • Organizer: 2010 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Anchorage, Alaska, U.S.A.
  • Year and Date: 2010-05-06
• [Presentation] Terram echanics-based High-Fidelity Dynamics Simulation for Wheeled Mobile Robot on Deformable Rough Terrain (2010)
  • Author(s): Liang Ding, Keiji Nagatani, Keisuke Sato, Andres Mora, Kazuya Yoshida, Haibo Gao, Zongquan Deng
  • Organizer: 2010 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Anchorage, Alaska, U.S.A.
  • Year and Date: 2010-05-06
• [Presentation] Slip Ratio for Lugged Wheel of Planetary Rover in Deformable Soil : Definition and Estimation (2009)
  • Author(s): Liang Ding, Haibo Gao, Zongquan Deng, Kazuya Yoshida, Keiji Nagatani
  • Organizer: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: 米国・セントルイス
  • Year and Date: 2009-10-13
• [Presentation] Parameter Identification for Planetary Soil Based on a Decoupled Analytical Wheel-Soil Interaction Terramechanics Model (2009)
  • Author(s): Liang Ding, Kazuya Yoshida, Keiji Nagatani, Haibo Gao, Zongquan Deng
  • Organizer: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: 米国・セントルイス
  • Year and Date: 2009-10-13
• [Presentation] Accurate Estimation of Drawbar Pull of Wheeled Mobile Robots Traversing Sandy Terrain Using Built-in Force Sensor Array Wheel (2009)
  • Author(s): Keiji Nagatani, Ayako Ikeda, Keisuke Sato, Kazuya Yoshida
  • Organizer: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: 米国・セントルイス
  • Year and Date: 2009-10-13
• [Presentation] 小惑星探査ローバのための繊毛式マイクロ ホップの動力学解析
  • Author(s): 永岡健司，吉田和哉
  • Organizer: 第30回日本ロボット学会学術講演会
  • Place of Presentation: 札幌
• [Presentation] Ciliary Micro‐hopping Locomotion of an Asteroid Exploration Robot
  • Author(s): Kenji Nagaika, Riku Takano, Takayuki Izumo, Kazuya Yoshida
  • Organizer: International Symposium on Artifi cial Intelligence, Robotics and Automation in Space
  • Place of Presentation: Turin, Italy
• [Presentation] Micro-Rover Design and Navigation with Minimal Sensors
  • Author(s): Nathan Britton, Kazuya Yoshida
  • Organizer: 2012 PISCES Conference
  • Place of Presentation: Hawaii, USA
• [Presentation] 次期小惑星探査ロボットのための繊毛推進機構の移動特性
  • Author(s): 永岡健司，高野陸，出茂嵩之，吉田和哉
  • Organizer: ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: 浜松