2013 Fiscal Year Final Research Report
Research on Autonomous Lunar Exploration Rover
| Project/Area Number |
22360359
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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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 | Aichi University of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
ONISHI Masatoshi 愛知工科大学, 工学部・電子制御-ロボット工学科, 教授 (50410882)
CHINONE Naoki 愛知工科大学, 工学部・電子制御-ロボット工学科, 教授 (60410883)
OKUYAMA Keiichi 愛知工科大学, 工学部・電子制御-ロボット工学科, 教授 (30442461)
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| Co-Investigator(Renkei-kenkyūsha) |
YOSHIMITSU Toshio 独立行政法人宇宙航空研究開発機構, 准教授 (60332152)
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| Project Period (FY) |
2010-04-01 – 2014-03-31
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| Keywords | ローバ / 月面探査 / 遠隔制御 / ローバ用マニピュレータ / セミ自律制御 |
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| Research Abstract |
Research on lunar rover technology for the scientific exploration of the moon has been conducted in preparation for Japan's possible lunar project expected to be realized in the near future.
Elastic wheels have been shown to be very effective in negotiating the lunar regolith, composed of powder-like fine particles, which covers lunar surface. Also, several types of suspension mechanism have been proposed to tackle the obstacles which are scattered on the steep slopes of the lunar mountains.For remotely controlling a lunar rover and on-board manipulator, a new scheme of what we call a semi-autonomous control system has been proposed which alleviates a burden on the operators on the ground and also enhance the efficiency of the remote operation of the rover system.
A series of rover models which we call LUBOT(LUnar roBOT) has been developed to confirm the above mentioned mechanisms and remote control scheme and their effectiveness has been confirmed.
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