B109 惑星探査ローバ試験機Micro6の設計と走行試験(OS13 月・惑星探査ロボットの運動と制御2)

抄録

This paper describes design and development of planetary exploration rover ground testbed Micro6. Micro6 haves high precision sensors and general purpose computers so that not only the driving test of an irregular ground but also research and development of software can be done. We select the apparatus carried in Micro6 and design the drive mechanism it can fully drive. A fundamental driving test is done on the volcano surface at Mt. Mihara in Izu-Oshima.