Development Report:
Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion
Hayato Omori*, Hiroyuki Kitamoto*, Asuka Mizushina*,
Taro Nakamura*, and Takashi Kubota**
*Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
**Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara-shi, Kanagawa 252-5210, Japan
Subsurface explorer robot
We have developed a small, unmanned explorer robot to investigate the undergrounds of satellites and planets. This paper describes the developed excavation robot, which is based on earthworm locomotion. The robot demonstrates excavation activity at 1/6 of its own weight, mimicking the light gravity conditions of the Moon. We conclude that the robot is suitable for future excavation missions.
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