Kinematic Discussion and Development of a Multi-Legged Planetary Exploration Rover with an Isotropic Leg Arrangement

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  • Shinji Nishikori
    a Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
  • Shinji Hokamoto
    b Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan, ISAS/JAXA, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara 252-5210, Japan;, Email: hokamoto@aero.kyushu-u.ac.jp
  • Takashi Kubota
    c ISAS/JAXA, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara 252-5210, Japan

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This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. The legged rover is a reliable rover system for exploration on rough terrains, because it can continue walking even after overturning. Moreover, the legged rover can also show a rotational motion by utilizing its isotropic shape. This paper discusses the walking performance of two types of rover shapes: one has a six-leg arrangement based on a regular octahedron and the other has an eight-leg arrangement based on a regular hexahedron. The design procedure of the proposed rover is explained, and a test-bed system, which is developed to demonstrate the fundamental motions, is also presented.

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