抄録
The moon and planetary exploration is being actively pursued across the world to enhance the knowledge of the origin and evolution of the solar system. Against this background we have been conducting R&D for the technology of a moon rover. This paper proposes a semi-autonomous control scheme as a new method for remotely controlling a lunar rover to alleviate the workload of the operator at the control station on the earth with the existence of radio propagation delay. We have developed a BBM of lunar rover with a manipulator to verify the proposed technology for exploring the central hill with the altitude of 2000m in one of the moon craters.
