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 language | English |
|---|---|
| Pages (from-to) | 363-370 |
| Number of pages | 8 |
| Journal | European Space Agency, (Special Publication) ESA SP |
| Issue number | 603 |
| Publication status | Published - 2005 Dec 15 |
| Event | i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - Munich, Germany Duration: 2005 Sep 5 → 2005 Sep 8 |
ASJC Scopus subject areas
- Aerospace Engineering
- Space and Planetary Science