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2012 Fiscal Year Final Research Report

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

Research Project

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Project/Area Number 21246122
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Aerospace engineering
Research InstitutionTohoku 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)
Project Period (FY) 2009 – 2012
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
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

    (25 results)

All 2012 2011 2010 2009

All Journal Article (9 results) (of which Peer Reviewed: 9 results) Presentation (16 results)

  • [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

    • URL

      http://ci.nii.ac.jp/naid/110009477301

    • Peer Reviewed
  • [Journal Article] Traveling PerformanceEvaluation of Planetary Rovers on Loose Soil2012

    • Author(s)
      Masataku Sutoh, Junya Yusa,Tsuyoshi Ito, Keiji Nagatani, KazuyaYoshida
    • Journal Title

      Journal of Field Robotics

      Volume: Vol. 29 Pages: 648-662

    • DOI

      DOI:10.1002/rob.21405

    • Peer Reviewed
  • [Journal Article] Local Path Planner forMobile Robot in Dynamic Environment based on Distance Time Transform Method2012

    • Author(s)
      Takeshi Ohki, Keiji Nagatani, KazuyaYoshida
    • Journal Title

      Advanced Robotics

      Volume: Vol. 26 Pages: 1623-1647

    • DOI

      DOI:10.1080/01691864.2012.694648

    • Peer Reviewed
  • [Journal Article] Development ofleg-track hybrid locomotion to traverse loose slopes and irregular terrain2011

    • Author(s)
      Keiji Nagatani, Hiroaki Kinoshita, Kazuya Yoshida, Kenjiro Tadakuma,Eiji Koyanagi
    • Journal Title

      Journal of Field Robotics

      Volume: Vol.28 Pages: 950-960

    • DOI

      DOI:10.1002/rob.20415

    • Peer Reviewed
  • [Journal Article] Planetary rovers' wheel-soil interaction mechanics: new challenges andapplications for wheeled mobile robots2011

    • Author(s)
      Liang Ding, Zongquan Deng, Haibo Gao,Keiji Nagatani, Kazuya Yoshida
    • Journal Title

      Journal of Intelligent Service Robotics

      Volume: Vol.4 Pages: 17-38

    • DOI

      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 soil2011

    • Author(s)
      Liang Ding, Haibo Gao, Zongquan Deng,Keiji Nagatani, Kazuya Yoshida
    • Journal Title

      Journal of Terramechanics

      Volume: Vol. 48 Pages: 27-45

    • DOI

      DOI:10.1016/j.jterra.2010.08.001

    • Peer Reviewed
  • [Journal Article] OdometryCorrection Using Visual Slip-AngleEstimation for Planetary ExplorationRovers2010

    • Author(s)
      Giulio Reina, Genya Ishigami, KeijiNagatani, Kazuya Yoshida
    • Journal Title

      Advanced Robotics

      Volume: Vol. 24 Pages: 359-385

    • DOI

      DOI:10.1163/016918609X12619993300548

    • Peer Reviewed
  • [Journal Article] Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain2009

    • Author(s)
      Genya Ishigami , Keiji Nagatani ,Kazuya Yoshida
    • Journal Title

      Journal of Field Robotics

      Volume: Vol. 26 Pages: 264-286

    • DOI

      DOI:10.1002/rob.v26:3

    • Peer Reviewed
  • [Journal Article] Achievementsin Space Robotics2009

    • Author(s)
      Kazuya Yoshida
    • Journal Title

      IEEE Robotics andAutomation Magazine

      Volume: Vol. 16 Pages: 20-28

    • DOI

      DOI:10.1109/MRA.2009.934818

    • Peer Reviewed
  • [Presentation] Micro-Rover Design and Navigation withMinimal Sensors2012

    • 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 Rovers2012

    • 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 Robot2012

    • 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 PlanetaryRovers2012

    • 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 Slopes2012

    • 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 slope2011

    • 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 maneuver2011

    • 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 Index2011

    • 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 slope2011

    • 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] Influence Evaluation of Wheel Surface Profile on Traversability of Planetary Rovers2010

    • 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 Soil2010

    • 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] Development of leg-track hybridlocomotion to traverse loose slopes and irregular terrain", 2010 IEEE International Workshop on Safety2010

    • 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] Terramechanics-based High-FidelityDynamics Simulation for WheeledMobile Robot on Deformable RoughTerrain2010

    • 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

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Published: 2014-08-29   Modified: 2019-12-20  

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