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.
Taro Nakamura, and Takashi Kubota, “Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion,” J. Robot. Mechatron., Vol.26, No.5, pp. 660-661, 2014.
-  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.
-  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.
-  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.
-  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 International License.