Abstract
Moon holes were first discovered in the world by JAXA in 2009. It is believed that moon hole is helpful to know the formation of the moon because bedding plane is exposed. In addition, because inner hole is sealed from solar wind, it is also important as a candidate site for base camp in the future. However, exploration of the moon hole is difficult with the conventional robots. A new robot is required for going down and explore moon hole. In this study, a system to throw a small robot into a moon hole with wire is proposed. The author describes modeling and attitude control in a state where the robot is hanging by a wire, and evaluates the effectiveness of the system.
