Multi-limbed rover for asteroid surface exploration using static locomotion

Marco Chacin, Kazuya Yoshida

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)

Abstract

This paper presents the design and preliminary analysis of a mobile robot for asteroid exploration. The basic requirement for the robot is 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 a multi-legged robot in microgravity is addressed. This paper considers the principle of the motion using 3D computer simulation, prototype design, feasible mission scenarios, grasping and control which is focused on the generation of statically stable gaits so the robot advances with a desired speed and direction.

Original languageEnglish
Pages (from-to)363-370
Number of pages8
JournalEuropean Space Agency, (Special Publication) ESA SP
Issue number603
Publication statusPublished - 2005 Dec 15
Eventi- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - Munich, Germany
Duration: 2005 Sep 52005 Sep 8

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science

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