Name
Abstract | ||
|---|---|---|
We have developed an exclusive planetary sub surface 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. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5979824 | Robotics and Automation |
Keywords | Field | DocType |
aerospace robotics,excavators,mobile robots,planetary rovers,propulsion,dual pantograph,excavation unit,peristaltic crawling,planetary subsurface explorer robot,propulsion unit,tapered earth auger,underground explorer robot,Earthworm,Peristaltic crawling,Planetary subsurface explorer | Excavation,Torque,Pantograph,Propulsion,Mechanical engineering,Aerospace engineering,Control engineering,Planet,Excavator,Engineering,Robot,Mobile robot | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 2 | 0.52 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hayato Omori | 1 | 10 | 3.32 |
| Taro Murakami | 2 | 3 | 0.97 |
| Hiroaki Nagai | 3 | 3 | 1.31 |
| Taro Nakamura | 4 | 37 | 28.99 |