Abstract
Robotic explorations on lunar or planet surfaces have a possibility to discover important science information. However, such surface is typically covered with loose soil, and it is very difficult for mobile robots to traverse in a wide area. To increase traction, a conventional wheel equips lugs. However, it deforms soil when lugs enter/exit the soil, and it causes sinkage of wheels that decreases traversability. Therefore, in this research, we have developed a verticality-penetration-lug mechanism to prevent wheel slippage. In this paper, we introduce the mechanism, and report the result of performance test using these wheels.
