Bimodal mobility actuated by inertial forces with surface elastic bodies in microgravity

Kenji Nagaoka, Toshiyasu Kaneko, Kazuya Yoshida

Research output: Contribution to journalArticlepeer-review


This paper presents bimodal mobility actuated by inertial forces with elastic bodies for an exploration robot in a microgravity environment. The proposed bimodal locomotion mechanism can selectively achieve vibration propulsion or rotational hopping mode based on centrifugal force and reaction torque exerted by the control of a single eccentric motor, where the rotational hopping is the primary locomotion mode for practical applications. The bimodal mobility performance under microgravity is experimentally examined using an air-floating testbed. Furthermore, we also present theoretical modeling of the bimodal mobility system, and the model is verified by comparison with the experiments.

Original languageEnglish
Pages (from-to)294-315
Number of pages22
Issue number2
Publication statusPublished - 2022 Feb 11


  • bimodal mobility
  • eccentric motor
  • elastic bodies
  • inertial forces
  • microgravity

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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