Multi-limbed rover for asteroid surface exploration using static locomotion

Marco Chacin; Kazuya Yoshida

Multi-limbed rover for asteroid surface exploration using static locomotion

Marco Chacin, Kazuya Yoshida

ENG - Aerospace Engineering

Research output: Contribution to journal › Conference article › peer-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 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

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title = "Multi-limbed rover for asteroid surface exploration using static locomotion",

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.",

author = "Marco Chacin and Kazuya Yoshida",

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language = "English",

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note = "i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space ; Conference date: 05-09-2005 Through 08-09-2005",

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AU - Yoshida, Kazuya

PY - 2005/12/15

Y1 - 2005/12/15

N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:28744443748

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EP - 370

JO - European Space Agency, (Special Publication) ESA SP

JF - European Space Agency, (Special Publication) ESA SP

SN - 0379-6566

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T2 - i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space

Y2 - 5 September 2005 through 8 September 2005

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