Development of a curving excavation method for a lunar-subsurface explorer using a peristaltic crawling mechanism

摘要

We have developed an excavation robot for lunar-subsurface exploration. This robot moves using a mechanism based on the peristaltic crawling of earthworms, which can move stably. In our previous study, we demonstrated that the robot can excavate down to 938 mm using this technique. However, it can only excavate in a straight configuration. If it can excavate while curving, its exploration range would expand. Therefore, in this paper, we develop a curving-excavation method for this robot. Firstly, this method is proposed and developed. Secondly, we design the propulsion units necessary to realize this method. Finally, we conduct experiments to confirm curving motion using a robot equipped with the designed unit and evaluate the performance of this method.