2023 Fiscal Year Final Research Report
Development of Multiple Robots using Deep Sinkage of the Rover Wheel for Traveling Loose Surface
| Project/Area Number |
21K14105
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20010:Mechanics and mechatronics-related
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| Research Institution | Suwa University of Science |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 軟弱地盤走行 / 複数台の移動ロボット / 車輪沈下を利用した移動 / 月惑星探査ロボット / 伸縮移動ロボット / テラメカニクス / 群ロボット |
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| Outline of Final Research Achievements |
To reduce payload cost, some organizations have plans to an exploration using multiple small and wheel-typed rovers. However, a wheel-typed rover is easy to become stuck on the loose surface of the lunar/planet's surface. The multiple rovers can collaborate with each other. However, its method has remained unclear, especially on the loose surface. This study proposes a collaborative method, in which multiple rovers use its supporting forces and inching locomotion. From the experimental results, this method could improve climbing ability. Furthermore, this study developed the connection mechanism with rotational function, and this mechanism realized rotational inching. This enables the rover to move in a diagonal direction with low slip.
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| Free Research Field |
ロボティクス・メカトロニクス
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| Academic Significance and Societal Importance of the Research Achievements |
機能が制約された小型ローバによる月・惑星表面上の軟弱地盤走行においては，お互いが助け合いながら移動することが求められる．しかし，これまで不整地軟弱地盤上において移動体同士が協力しながら走破性を向上する方法は明らかでなかった．本研究では小型ローバによる結合伸縮移動を起案し，その移動が実現可能なメカニズムを提案した．さらに，走行実験より提案手法は走破性を向上できる可能性を示唆できた．以上，本成果は不整地軟弱地盤上におけるロボット同士の協力による走破性改善例の一例として貢献したといえる．
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