Planetary Subsurface Explorer Robot with Propulsion Units for Peristaltic Crawling

摘要：

We have developed an exclusive planetary subsurface explorer robot with propulsion and excavation units. In this paper, we first explain the concept of our underground explorer robot. Next we develop an excavation unit with a tapered earth auger and a propulsion unit with dual pantograph. Several experiments are performed to demonstrate these features. Finally, we develop a subsurface explorer robot with propulsion and excavation units. Excavation experiments are successfully conducted using the excavator alone and at lighter weights. We show that the excavator can begin boring from a launcher, and in case of excavator of 1/6 of its own weight, it successfully excavates at the same depth as in its own weight. This demonstrates that this novel excavator is expected to accomplish future missions on other planets and the moon.

关键词： Planetary subsurface explorer Peristaltic crawling Earthworm

作者: H. Omori T. Murakami H. Nagai T. Nakamura T. Kubota

作者单位: Department of Precision Mechanics,Chuo University,1-13-27 Kasuga,Bunkyo-ku,Tokyo 112-8551,Japan Japan Aerospace Exploration Agency (JAXA),3-1-1 Yoshinodai,Chuo-ku,Sagamihara 252-5210,Japan

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 649-654

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）