Push Pull Locomotionに弾性的な車輪を融合させた際の実験的走行性能検証

抄録

Exploration with rovers is one of main methods of lunar exploration. However, the rover may slip down or get stuck on the slope, whose angle is higher than 25 degrees, due to the loose ground on the moon. However, there is a moving method called push pull locomotion can effectively improve the climbing performance of the rover on loose slopes. This study validates the use of flexible wheels to suppress the slide of the PPL rover. Experimental results indicated that the rover using flexible wheel can reduce the slip.