著者

加藤 裕基 渡邊 恵佑 妻木 俊道 柳瀬 恵一 本田 瑛彦

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.34, no.5, pp.321-330, 2016

被引用文献数

2

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<I>Jumping Scouter</I> is a rocket-powered robot for planetary exploration. The light-weighted robot traverses long distance, independent of terrain conditions. For example, it theoretically jumps 43[km] with only 290[g] of vehicle mass and 98[g] of black powder. It also acquires landscape imagery of wide areas during and after traversal jumps. This paper describes the robot's concept, system configuration and primary evaluation tests for jumping functionary.

著者

鈴木 悟史 吉井 正広 中西 洋喜 山隅 允裕 小田 光茂 上田 敦史 渡邊 恵佑 加藤 裕基 星 亜友美 西田 信一郎

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.81, no.824, pp.14-00298-14-00298, 2015 (Released:2015-04-25)

参考文献数

15

被引用文献数

2

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Image processing is one of the methods used to measure position/attitude for robot control and there are hopes that it can be applied to space robot missions, including REX-J (Robot EXperiment on ISS/JEM). The REX-J mission involves space robot locomotive function experiments using tethers by JAXA. Measuring the robot's motion accurately is crucial to establishing the new locomotive technology using tethers. With conventional methods, a suitable illumination environment is configured for high-precision image processing and a characteristic marker is attached to the measurement object. However, the two challenges posed for image processing during the REX-J mission are: (1) the illumination of space changes significantly with orbital motion and (2) the robot lacks a characteristic marker. Accordingly, our purpose is to develop a marker less image processing method for the illumination environment of space and measure the robot's position/attitude of the REX-J mission by image processing. The proposed new image processing method involves creating virtual points are created at the intersection of the robot's edge in the image, which are then used as markers for image processing. This method is robust for changes in the illumination environment because it allows the creation of a virtual point, even if the edge is incomplete. The method is applied to the REX-J mission and the measurement accuracy of the robot's position/attitude in the illumination environment of space was confirmed as on the sub-pixel level. Subsequently, the position/attitude of the robot during movement by tethers was measured by image processing. In addition, the error in the robot's position/attitude, as estimated from the length of the tethers, was clarified by the image processing result. Based on these results, the robot's locomotive function by the REX-J mission was verified.

著者

渡邊 恵佑 下田 真吾 久保田 孝 中谷 一郎

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2002, pp.38-39, 2002

被引用文献数

1

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今後の月探査ミッションでは, サンプル採取や観測機器の設置のために, 月面のレゴリス層を数mの深さにわたって掘削することが要求されている。これには, 全身が埋没してレゴリス中を掘削しながら推進し, かつ探査ローバに搭載可能なサイズの, モグラ型ロボットが適していると考える。このようなロボットを実現するためには, 「レゴリス中に空間を確保する」と「その空間の中を前進する」の, 2つのプロセスが必要となる。ここでは, 両者を一体として推進する手法を提案し, これを用いた簡易実験の結果を報告する。