Soil circulating system for a lunar subsurface explorer robot using a peristaltic crawling mechanism

Nakatake, Toyoharu; Konno, Masashi; Mizushina, Asuka; Yamada, Yasuyuki; Nakamura, Taro; Kubota, Takashi

doi:10.1109/aim.2016.7576801

Cited by 19 publications

(5 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…depth reached 500 mm and the entire process took about 7 h [12]. Moreover, earthworm bio-inspired augerbased drill [40], has a penetration rate of approximately 0.024 mm s −1 with a max. depth of 938 mm.…”

Section: Drod Results and Performancementioning

confidence: 99%

DROD: bio-robotic drill/sampler for planetary subterranean exploration: experiments and challenges

Alkalla,

Pitcher

2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

Key features for space exploration equipment, and in particular drills and sampling mechanisms, are low weight, small size, and energy efficiency. These characteristics are substantially required not only in reducing the spaceship flight cost, but also in extending the exploration time on the extraterrestrial bodies. This article experimentally investigates the feasibility of a novel drill bioinspired by wood-wasp and sand-fish lizard as an integrated robotic solution for rover exploration tasks. A new penetration depth of 820 mm in terms of reciprocation drilling technique has been achieved by the proposed dual reciprocation and oscillation drill (DROD), especially with the new enhancements such as miniature sample compartment and toothed stems. Additionally, a first sampling experiment with DROD has been performed and a sample amount of 20 g and size of 30 cm3 has been collected successfully. Finally, the article provides developments for integration of DROD with rovers for future exploration missions and potentials for horizontal drilling for subterranean applications.

show abstract

Section: Drod Results and Performancementioning

confidence: 99%

DROD: bio-robotic drill/sampler for planetary subterranean exploration: experiments and challenges

Alkalla,

Pitcher

2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

show abstract

“…For surface crawling, pneumatic actuators facilitate telescopic movement of the robot segment, whereas the electricdriven SMA can be programmed to control the telescopic motion of various SMAs on the same segment to achieve straight-line crawling or steering crawling (Zhang et al, 2021c). Currently, the most prominent application scenario for hybrid-driven robots is soil drilling (Dewapura et al, 2020) (Omori et al, 2010;Omori et al, 2013;Nakatake et al, 2016;Isaka et al, 2019;Tokoi et al, 2021;Vartholomeos et al, 2021), and the basic structure is basically similar to that depicted in Figure 16A. The electrically controlled drill can dig forward, whereas the pneumatic actuator can compact the soil and form a certain diameter pipe channel, in addition to transporting the entire robot forward.…”

Section: Hybrid-drivenmentioning

confidence: 99%

“…Currently, the most prominent application scenario for hybrid-driven robots is soil drilling ( Dewapura et al, 2020 ) ( Omori et al, 2010 ; Omori et al, 2013 ; Nakatake et al, 2016 ; Isaka et al, 2019 ; Tokoi et al, 2021 ; Vartholomeos et al, 2021 ), and the basic structure is basically similar to that depicted in Figure 16A . The electrically controlled drill can dig forward, whereas the pneumatic actuator can compact the soil and form a certain diameter pipe channel, in addition to transporting the entire robot forward.…”

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot’s segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

show abstract

“…Subsurface exploration robotics is a field closely related to subterranean mobility. 15–17 In both fields, robots have a screw or drill in the front used to dig into the earth. These robots are large in scale and aim to scrape excavated soils off the ground.…”

Section: Earthworm-inspired Soft Robotsmentioning

confidence: 99%

A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot

et al. 2022

View full text Add to dashboard Cite

show abstract

Soil circulating system for a lunar subsurface explorer robot using a peristaltic crawling mechanism

Cited by 19 publications

References 5 publications

DROD: bio-robotic drill/sampler for planetary subterranean exploration: experiments and challenges

DROD: bio-robotic drill/sampler for planetary subterranean exploration: experiments and challenges

Actuation and design innovations in earthworm-inspired soft robots: A review

A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot

Contact Info

Product

Resources

About