Research on Autonomous Lunar Exploration Rover

日本为实现不久的将来可能实施的月球计划，正在进行月球车技术的科学探索研究。弹性车轮在通过覆盖在月球表面的由粉末状细颗粒组成的月壤方面表现出非常有效的效果。此外，还提出了几种类型的悬挂机构，以解决月球山陡坡上分散的障碍物。为了远程控制月球车和车载机械手，一个我们称之为半-自主控制系统的提出减轻了地面操作人员的负担，同时也提高了漫游车系统的远程操作效率。为了验证上述机制和遥控方案，我们开发了一种称为LUBOT（LUnarroBOT）的漫游车模型，并证实了它们的有效性。

Research on lunar rover technology for the scientific exploration of the moon has been conducted in preparation for Japan's possible lunar project expected to be realized in the near future.Elastic wheels have been shown to be very effective in negotiating the lunar regolith, composed of powder-like fine particles, which covers lunar surface. Also, several types of suspension mechanism have been proposed to tackle the obstacles which are scattered on the steep slopes of the lunar mountains.For remotely controlling a lunar rover and on-board manipulator, a new scheme of what we call a semi-autonomous control system has been proposed which alleviates a burden on the operators on the ground and also enhance the efficiency of the remote operation of the rover system.A series of rover models which we call LUBOT(LUnar roBOT) has been developed to confirm the above mentioned mechanisms and remote control scheme and their effectiveness has been confirmed.