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Owing to the irregular terrain and microgravity environment of an asteroid, an appropriate locomotion mechanism is required for exploring the asteroid by a robot. In this paper, a ground grip locomotive robot is proposed. One of the most important requirements of the robot is the development of the finger gripping mechanism that can be attached on an uneven surface. To meet this requirement, grip...
When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile...
50-kg class micro satellite RISING-2 is now under development by Tohoku University and Hokkaido University. The development is at Flight Model phase. The main mission of the RISING-2 is Earth surface observations with 5-m resolution using a Cassegrain telescope with 10-cm diameter and 1-m focal length. Accurate attitude control capability with less than 0.1 deg direction errors and less than 0.02...
Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models...
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