Analysis on Dynamics of Ciliary Micro-Hopping Mechanism by an Eccentric Motor in a Micro-Gravity

• Project/Area Number: 24760193
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: NAGAOKA Kenji 東北大学, 工学(系)研究科(研究院), 助教 (60612520)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000); Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2012: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
• Keywords: 移動ロボット / 微小重力 / 振動推進 / 力学モデリング / 移動力学 / 宇宙ロボット / 移動原理 / 繊毛機構 / 繊毛

Outline of Final Research Achievements

Novel locomotion mechanism and its theoretical mechanics were investigated for future robotic exploration in a micro-gravity asteroid. The proposed mechanism is adaptive ciliary hopping by using an eccentric motor and its dynamics modeling was developed. The validity of the mechanism and the modeling were also confirmed through experiments with an air-floating test bed which can emulate planar micro-gravity environment.

Research Products

• [Presentation] Development of MINERVA-II2, a Micro-Robot for Asteroid Surface Exploration with Innovative Mobility (2015)
  • Author(s): Kenji Nagaoka, Kazuya Yoshida, Masamitsu Kurisu, Koichi Osaka, Kenjiro Tadakuma, Yuichi Tsumaki, Takashi Mineta, Shinichi Kimura, Tomohiro Narumi, Takashi Kubota, Tetsuo Yoshimitsu
  • Organizer: 11th Low-Cost Planetary Missions Conference
  • Place of Presentation: Berlin, Germany
  • Year and Date: 2015-06-09 – 2015-06-10
• [Presentation] Experimental Evaluation of Gripping Characteristics Based on Frictional Theory for Ground Grip Locomotive Robot on an Asteroid (2015)
  • Author(s): Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida
  • Organizer: 2015 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Washington, USA
  • Year and Date: 2015-05-26 – 2015-05-30
• [Presentation] Aanalysis and Evaluation of Deployment Mechanism of a Tiny Rover in a Microgravity by Drop Tower Experiments (2014)
  • Author(s): Kenji Nagaoka, Hiroyuki Yatsunami, Kazuya Yoshida, Tadashi Adachi, Masamitsu Kurisu, Yoji Kuroda, Tetsuo Yoshimitsu, Takashi Kubota, Hajime Yano
  • Organizer: 40th COSPAR Scientific Assembly
  • Place of Presentation: Moscow, Russia
  • Year and Date: 2014-08-02 – 2014-08-10
• [Presentation] 小天体表面把持移動ロボットのための摩擦理論に基づく把持特性の実験的評価 (2014)
  • Author(s): 湯口雄大, 永岡健司, 吉田和哉
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場, 富山市
  • Year and Date: 2014-05-25 – 2014-05-28
• [Presentation] Aanalysis and Evaluation of Deployment Mechanism of a Tiny Rover in a Microgravity by Drop Tower Experiments (2014)
  • Author(s): Kenji Nagaoka, Hiroyuki Yatsunami, Kazuya Yoshida, Tadashi Adachi, Masamitsu Kurisu, Yoji Kuroda, Tetsuo Yoshimitsu, Takashi Kubota, Hajime Yano
  • Organizer: 40th COSPAR Scientific Assembly 2014
  • Place of Presentation: Moscow, Russia
• [Presentation] Modeling and Analysis of Ciliary Micro-Hopping Locomotion Actuated by an Eccentric Motor in a Microgravity (2013)
  • Author(s): Kenji Nagaoka, Kazuya Yoshida
  • Organizer: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Tokyo, Japan
• [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: 日本ロボット学会第30回記念学術講演会
  • Place of Presentation: 札幌市
• [Presentation] Ciliary Locomotion of an Asteroid Exploration Rover with an Eccentric Motor (2012)
  • Author(s): Kenji Nagaoka, Riku Takano, Takayuki Izumo, Kazuya Yoshida
  • Organizer: The 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space
  • Place of Presentation: Turin, Italy