Evolving legged rovers for minor body exploration missions

Marco Chacin, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This paper presents the designs of two mobile robots for asteroid exploration. The basic requirements for the robots are to achieve scientific investigation of the asteroid surface at arbitrary locations with fine positioning capability after a large stride movement. A preliminary discussion and simulation on the dynamic behavior of each multi-legged robot in microgravity is addressed. This paper considers the principle of the motion using 3D computer simulation, prototype design and feasible mission scenarios of both prototypes focusing on the generation of stable gaits so the robot advances with a desired speed and direction.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages170-175
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 22
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: 2006 Feb 202006 Feb 22

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period06/2/2006/2/22

Keywords

  • Asteroid exploration
  • Dynamic simulation
  • Legged robot
  • Space robot

ASJC Scopus subject areas

  • Engineering(all)

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