2012 Fiscal Year Final Research Report
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)
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| Project Period (FY) |
2009 – 2012
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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 |
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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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