Representation of Passive Interaction Using Internal Structural Deformation of the Enclosure and Development of a State Prediction Algorithm for Driving Conditions

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K03952
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Shibaura Institute of Technology
• Principal Investigator: Iizuka Kojiro 芝浦工業大学, システム理工学部, 教授 (10453672)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: モバイルロボット / 軟弱地盤 / 地盤環境センシング

Outline of Final Research Achievements

This application aimed to challenge research on the control of locomotion by incorporating a distinctive sensing system that mimics and applies biological functions into a self-reliant lunar rover exploration. The surfaces of celestial bodies such as the moon and Mars are covered with soft terrain called regolith. In heterogeneous ground environments including soft terrain, unexpected slips, collapses, and destruction can occur due to dynamic loads applied to the ground by rover movement. Therefore, we developed a locomotion algorithm for path planning by sensing the dynamic loads of vibrations generated during rover movement, estimating the external environment, reflexively identifying slips and sinkage phenomena occurring during locomotion similar to biological responses.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究にて実施した斜面走行試験では, 車輪のシャシには小さい歪み(搭載した歪みセンサにより実時間データ獲得)を起こし, “滑”走とともにその歪み値の上昇や解放が確認されている. このシャシの歪みデータの独自性(値のボリューム(振幅)と上昇・下降率, 周期)と, 外部環境との相関性を数学的モデルに落とし込むことによって, 危険な外部環境と対峙した瞬間, モバイルロボットに起きる現象を事前予測できることは大変画期的であり, 学術的意義および高い必要性があると言える.