蠕動運動型月面掘削ロボットにおける屈曲掘削手法の提案

抄録

It is important to investigate the underground of the planets in terms of the elucidation of the planet's origin and a development of the bases that human can work on the planets. Therefore, we have been developed a lunar subsurface excavation robot using peristaltic crawling based on an earthworm's locomotion. The existing robot performs only the excavation to the plumb direction. If a single robot can conduct the three-dimensional excavation in underground, it enable extensive subsurface investigation. However, to make this come true, it is necessary for the robot to change direction when it excavates. Therefore, in this paper, we propose a curving excavation method during excavation.