抄録
Planetary rovers are required a high performance to traverse rough terrain like loose soil with steeps. Our proposed robot has high mobility performance, especially; it can traverse loose soil with steep slopes. The proposed mechanism can support on surface of loose soil with steep slope because of it has "piles" which are penetrated into the soil. In other word, this robot can use earth pressure to support itself weight on loose soil with steep slope. The proposed robot has two bodies and four pile's units. Two bodies are connected two ball screws units. Therefore, the mobility motion of bodies is fro-back system. Then, the piles can be penetrated into soil by mechanism with up-down system. In this paper, we discuss the relation between the earth pressure and hardening effect among experiments.
