Papers - ISHIGAMI Genya

Trafficability Analysis for Lunar/Planetary Exploration Rover Using Thrust-Cornering Characteristic Diagram Proc. of IEEE/RSJInt

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Conference on Intelligent Robots and Systems    2228 - 2233 2008.09

Research paper (international conference proceedings), Joint Work, Lead author, Corresponding author, Accepted

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Sensing Position Planning for Lunar Exploration Rovers2008

Andres Mora, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

IEEE International Conference on Mechatronics and Automation TA3-3 2008.08

Research paper (international conference proceedings), Joint Work, Accepted

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Slope Traversal Experiments with Slip Compensation Control for Lunar/Planetary Exploration Rover,

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008)    pp. 2295--2300 2008.05

Research paper (international conference proceedings), Joint Work, Lead author, Corresponding author, Accepted

Terramechanics-based Analysis and Control for Lunar/Planetary Exploration Robots

Genya Ishigami

東北大学大学院工学研究科 航空宇宙工学専攻 博士学位論文  2008.02

Doctoral thesis, Single Work, Lead author, Last author, Corresponding author, Accepted

Vision-based Estimation of Slip Angle for Mobile Robots and Planetary Rovers

Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

IEEE International Conference on Robotics and Automation    2295 - 2300 2008

Research paper (international conference proceedings), Joint Work, Accepted

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Path Planning for Planetary Exploration Rovers and Its Evaluation Based on Wheel Slip

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Proceedings of the International Conference on Robotics and Automation    2361 - 2366 2007.04

Research paper (international conference proceedings), Joint Work, Lead author, Corresponding author, Accepted

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Terramechanics-Based Model for Steering Maneuver of Planetary Exploration Rovers on Loose Soil

Genya Ishigami, Akiko Miwa, Keiji Nagatani, Kazuya Yoshida

Journal of Field Robotics (JOHN WILEY & SONS INC)  24 ( 3 ) 233--250 - 250 2007.03

Research paper (scientific journal), Joint Work, Lead author, Corresponding author, Accepted,  ISSN  1556-4959

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不整地を走行する車輪型移動ロボットの車輪力学モデルとステアリング時の挙動解析モデルをそれぞれ提案した．

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Path Following Control with Slip Compensation on Loose Soil for Exploration Rover

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems    5552 - 5557 2006.10

Research paper (international conference proceedings), Joint Work, Lead author, Corresponding author, Accepted

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Terramechanics-Based Analysis on Slope Traversability for a Planetary Exploration Rover

Ishigami, G., Miwa, A., Nagatani, K., and Yoshida, K.,

Proceedings of the 25th International Symposium on Space Technology and Science (ISTS 2006)    pp. 1025--1030 2006.06

Research paper (international conference proceedings), Joint Work, Lead author, Corresponding author, Accepted

Terramechanics-based analysis and traction control of a lunar/planetary rover

Kazuya Yoshida, Toshinobu Watanabe, Noriyuki Mizuno, Genya Ishigami

FIELD AND SERVICE ROBOTICS: RECENT ADVANCES IN RESEARCH AND APPLICATIONS (SPRINGER-VERLAG BERLIN)  24   225 2006

Research paper (international conference proceedings), Joint Work, Accepted,  ISSN  1610-7438

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This paper presents analysis of traction mechanics and control of a lunar/planetary rover based on the models obtained from terramechanics. A case study has been conducted for a rover test bed to negotiate a slope of loose soil such as regolith that covers most of lunar surface. The tire traction force is modeled as a function of the vertical load and slip ratio of the wheel. Bekker's terramechanic formulae are employed to derive an improved practical model that calculates net traction force, referred to as Drawbar Pull, with a reasonable precision. Experiments are carried out in two phases. First, the physical behavior of a wheel on loose soil is observed using a single-wheel test bed, then the empirical parameters of the tire and soil are identified. Second, the slope climbing capability is studied by using a rover test bed that has independently driven four wheels. The traction margin and slip margin are defined to be used in a traction control. In the slope experiment, it turned out that the climbing capability was saturated at 14 degrees due to the lack of enough driving torque in wheels. But theoretical investigation suggests that this is not the limitation of terrain trafficability and climbing capability can be improved by increased driving torque and proper load distribution.

Steering Trajectory Analysis of Planetary Exploration Rovers Based on All-Wheel Dynamics Model

Genya Ishigami, Akiko Miwa, Kazuya Yoshida

The 8th Int. symposium on Artificial Intelligence, Robotics and Automation in Space SP-603    1 - 8 2005.09

Research paper (international conference proceedings), Joint Work, Lead author, Corresponding author

Steering Characteristics of a Rigid Wheel for Exploration on Loose Soil

Kazuya Yoshida, Genya Ishigami

Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems    3995 - 4000 2005

Research paper (international conference proceedings), Joint Work, Accepted

Steering characteristics of an exploration rover on loose soil based on all-wheel dynamics model

G Ishigami, K Yoshida

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 (IEEE)     2041 - 2046 2005

Research paper (international conference proceedings), Joint Work, Lead author, Accepted

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In this paper, steering characteristics of an exploration rover on loose soil is studied. Analysis of the steering characteristics is a key to plan and control the motion trajectory of a rover. Traditionally, such analysis has been made based on a model called "bicycle model" In that model, a four-wheel car-like vehicle is approximated by a two-wheel bicycle-like vehicle with the fore-wheels and the rear-wheels paired. However, the bicycle model does not show a good performance when a vehicle travels off-road. In order to analyze the steering characteristics of a vehicle on loose soil, the authors develop a model that respects the dynamics of each wheel's slip and skid behavior. The developed model is called All-Wheel Dynamics Model. In the all-wheel dynamics model, the behavior of each wheel on loose soil is modeled based on terramechanics. The motion trajectory of the vehicle is obtained by numerical simulation using the wheel-and-vehicle dynamics model. The validity of the proposed model is examined by the experiments of a wheel and a vehicle using simulated lunar-surface soil. The experimental results show that the proposed model provides a better approximation than the traditional bicycle model.

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Long Range Navigation on Desert by a Dual-Wheel Micro Rover

Genya ISHIGAMI, Noriyuki MIZUNO, Akiko MIWA, Kazuya YOSHIDA

The 24th International Symposium on Space Technology and Science, Miyazaki, Japan    1 - 6 2004

Research paper (international conference proceedings), Joint Work, Lead author, Corresponding author, Accepted

Terramechanics-Based Analysis for Slope Climbing Capability of a Lunar/Planetary Rover

K.Yoshida, N.Mizuno, G.Ishigami, A.Miwa

The 24th International Symposium on Space Technology aned Science,2004    k-6, (6 pages) 2004

Research paper (international conference proceedings), Joint Work, Accepted

Slip, Traction Control, and Navigation of a Lunar Rover

Yoshida, K., Watanabe, T., Mizuno, N., and Ishigami, G.,

Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2003)    AS21 2003.06

Research paper (international conference proceedings), Joint Work, Last author