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We have developed an excavation robot for lunar-subsurface exploration. This robot moves using a mechanism based on the peristaltic crawling of earthworms, which can move stably. In our previous study, we demonstrated that the robot can excavate down to 938 mm using this technique. However, it can only excavate in a straight configuration. If it can excavate while curving, its exploration range would...
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...
Subsurface exploration has been progressing rapidly. Exploring of the subsurface of Earth has received a lot of attention to investigate such environment as volcano, ocean and space. Now advanced technologies are required in subsurface exploration and some countries have tried to meet these new challenges. A subsurface investigation of celestial bodies is regarded as a especially significant technology...
This paper presents a new technique for simple, highly accurate calibration of relative position between a robot arm and a target work. This technique can shorten calibration time and reduce production cost. In this study, we adopted point-to-face touching for simple, highly accurate calibration. Point-to-face touching means to touch work surface with one point of an arm tip tool. Robot arms can get...
It is known that in some conditions, shimmy phenomenon occurs on motorcycles. In this article, shimmy analysis is conducted by the model based on the tire model that delivers the force with lateral deformation. The analysis shows that the motorcycle with excessively heavy load becomes unstable. Then, the model is used to design a stabilizing controller for motorcycle shimmy. The stabilization is verified...
Recently small body exploration missions have received a lot of attention in the world. In small body explorations, especially, detailed in-situ surface exploration by tiny probe is one of effective and fruitful means and is expected to make strong contributions towards scientific studies. JAXA/ISAS is promoting MUSES-C mission, which is the worldpsilas first sample and return attempt to/from the...
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