Satellite,   Planetary or Terrestrial   Subsurface Explorer Robot Based on Earthworm Locomotion

Hayato Omori; Hiroyuki Kitamoto; Asuka Mizushina; Taro Nakamura; Takashi Kubota

doi:10.20965/jrm.2014.p0660

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JRM Vol.26 No.5 pp. 660-661

doi: 10.20965/jrm.2014.p0660

(2014)

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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

Received:

October 30, 2013

Accepted:

August 6, 2014

Published:

October 20, 2014

Keywords:

investigation of satellites and planets underground, excavation robot, peristaltic crawling, earthworm

Abstract

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.

Cite this article as:

H. Omori, H. Kitamoto, A. Mizushina, T. Nakamura, and T. Kubota, “Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion,” J. Robot. Mechatron., Vol.26 No.5, pp. 660-661, 2014.

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References

[1] K. Iizuka et al., “Development of a Small, Lightweight Rover with Elastic Wheels for Lunar Exploration,” J. Robot. Mechatron., Vol.24, No.6, pp. 1031-1039, 2012.
[2] H. Omori et al., “Development of a Novel Bio-Inspired Planetary Subsurface Explorer: Initial Experimental Study by Prototype Excavator With Propulsion and Excavation Units,” IEEE Trans. Mechatron., Vol.18, No.2, pp. 459-470, 2013.
[3] H. Kitamoto et al., “Propulsion Mechanism for a Lunar Subterranean Excavator Using Peristaltic Crawling,” J. Robot. Mechatron., Vol.25, No.3, pp. 466-475, 2013.
[4] A. Mizushina et al., “A discharging mechanism for a lunar subsurface explorer with the peristaltic crawling mechanism,” in Proc. 6th Int. Conf. Rec. Adv. Space Technol., Istanbul, Turkey, pp. 955-960, 2013,

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Iizuka et al., “Development of a Small, Lightweight Rover with Elastic Wheels for Lunar Exploration,” J. Robot. Mechatron., Vol.24, No.6, pp. 1031-1039, 2012.

[2] [2] H. Omori et al., “Development of a Novel Bio-Inspired Planetary Subsurface Explorer: Initial Experimental Study by Prototype Excavator With Propulsion and Excavation Units,” IEEE Trans. Mechatron., Vol.18, No.2, pp. 459-470, 2013.

[3] [3] H. Kitamoto et al., “Propulsion Mechanism for a Lunar Subterranean Excavator Using Peristaltic Crawling,” J. Robot. Mechatron., Vol.25, No.3, pp. 466-475, 2013.

[4] [4] A. Mizushina et al., “A discharging mechanism for a lunar subsurface explorer with the peristaltic crawling mechanism,” in Proc. 6th Int. Conf. Rec. Adv. Space Technol., Istanbul, Turkey, pp. 955-960, 2013,

Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion

Hayato Omori*, Hiroyuki Kitamoto*, Asuka Mizushina*, Taro Nakamura*, and Takashi Kubota**

Hayato Omori^, Hiroyuki Kitamoto^, Asuka Mizushina^,
Taro Nakamura^, and Takashi Kubota^**