深部感覚的アプローチによる月・惑星探査ローバの走行状態推定

抄録

Planetary exploration is being carried out for the expansion of the activity range for humanity and the development of science and technology. The planetary surface is covered with regolith, which is loose soil, and have many slopes because of craters. When traveling on such terrain, the rover will slip. This slippage can cause the rover to slip down and get stuck. Therefore, it is necessary to detect slippage while traveling. In this research, we develop a system that detects slippage from changes in the strain acting on the legs and identifies the traveling condition. As a first step, the interrelationship between strain and slippage during running is verified by an experimental approach.