Kenji Nagaoka

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— Rovers that are used to explore craters on the Moon or Mars require the mobility to negotiate sandy slopes, on which slippage can easily occur. Such slippage can be reduced by actively readjusting the attitude of the rovers. By changing attitude, rovers can modify the position of their center of gravity and the wheel-soil contact angle. In this study, we(More)
The wheels of planetary rovers typically have grousers (i.e., lugs, cleats) on their surface to provide grip for climbing in loose soil. However, from the viewpoint of designing wheels, there exist few theoretical methods or models for determining the grouser interval for a wheel. The goal of this study is to provide a fundamental guideline for determining(More)
Locomotion capabilities form the basis for accomplishing robotic exploration by a rover on an asteroid. While traditional locomotion gears, such as wheels and tracks, are promising candidates for traversing extrater-restrial terrains, their capabilities lower in such an environment due to its micro-gravity. Here, we propose a new idea of ciliary(More)
Future planetary rovers are expected to probe across steep sandy slopes such as crater rims where wheel slippage can be a critical problem. One possible solution is to equip locomotion mechanisms with redundant actuators so that the rovers are able to actively reconfigure themselves to adapt to the target terrain. This study modeled a reconfigurable rover(More)
— The surfaces of both the Moon and Mars are covered with loose soil, with numerous steep slopes along their crater rims. Therefore, one of the most important requirements imposed on planetary rovers is their ability to minimize slippage while climbing steep slopes, i.e., the ability to generate a drawbar pull with only a small amount of slippage. To this(More)