Abstract
Architecture study for Lunar exploration is carried out by space agencies. JAXA is carrying out research and development of a mobility robot (rover) aimed at the Lunar surface exploration and outpost construction. The target areas for outpost construction and lunar exploration are mainly in mountainous zones, and the moon's surface is covered by regolith. Achieving a steady run on such irregular terrain is the big technical problem for rovers. A newly developed lightweight crawler mechanism is good for driving on such irregular terrain because of its low contact force with the ground. This was determined considering the mass and expected payload of the rover. This paper describes composition of the robots designed for construction of lunar outpost, and also gives the scenario for outpost construction. These lunar robot are developed based on space robot technology cultivated by development of the JEMRMS and the ETS-VII robot.
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