惑星探査のための軟弱地盤跳躍移動機構に関する設計研究

抄録

For planetary exploration, small robots of just a few kilograms installed in the main spacecraft have a lot of advantages. In order to move on the surface of a “low gravity” object, like the Moon by a small robot, there are several options of locomotion, such as jumping, wheels, and legs. Jumping locomotion has capable of moving a long distance by one action and the number of actuators required for jumping capability is very small. In addition, it can travel a longer distance on a planet or satellite which has a gravity lower than the Earth. For instance, it can jump 6 times longer on the Moon than on the Earth. To realize jumping locomotion for small robots in a low gravity environment, authors proposed a new jumping locomotion method which consists of one jumping mechanism and one wheel for attitude and direction change, as well as they are now studying the mechanism which moves in a space environment (vacuum, high radiation). In this paper, the jumping mechanism is mainly described. The design of the jumping mechanism, test results on granular media are presented.