| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Research Abstract |
For future lunar surface exploration missions, robotic wheeled rovers will be promising robots to perform wide-area explorations. In this research, we first developed a lunar soil-wheel interaction model from viewpoints of Soil Mechanics and Terramechanics (mechanics of soil-wheel sysmtems). Second, we proposed a methodology that can reduce excessive wheel slip and maintain vehicle mobility in sandy rough terrain, and developed a six-wheeled robotic vehicle which employs a feedback control system having a simple algorithm of the methodology.
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