1A2-C07 Development of Unique Lunar Roving Robot considering Characteristic of Loose soil

On the lunar surface, there are covered with soils which are named regolith. Regolith is easy to slide for locomotion systems. Therefore, it is difficult to traverse loose soil with slope. However, lunar rovers are required to traverse rough and slope terrain such as in craters and cliffs where it is scientifically important to explore. To solve these problems, we focus on an element of loose soil, "earth pressure". When the depth of soil increases, "earth pressure" increases. Therefore, we use this characteristic for developing new type robots to traverse loose soil smoothly. In addition, this paper describes about the structure of proposed robot.