Robotics and autonomous technology for asteroid sample return mission

Takashi Kubota, Shujiro Sawai, Tatsuaki Hashimoto, Jun'ichiro Kawaguchi

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

14 Citations (Scopus)

Abstract

The MUSES-C mission is the world's first sample and return attempt to/from the near Earth asteroid. In deep space, it is hard to navigate, guide, and control a spacecraft on a real-time basis remotely from the earth mainly due to the communication delay. So autonomy is required for final approach and landing on an unknown body. It is important to navigate and guide a spacecraft to the landing point without hitting rocks or big stones. In the final descent phase, cancellation of the horizontal speed relative to the surface of the landing site is essential. This paper describes various kinds of robotics technologies applied for MUSES-C mission. A global mapping method, an autonomous descent scheme, and a novel sample-collection method, and asteroid exploration robot are proposed and presented in detail. The validity and the effectiveness of the proposed methods are confirmed and evaluated by numerical simulations and some experiments.

Original languageEnglish
Title of host publication2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Pages31-38
Number of pages8
DOIs
Publication statusPublished - 2005
Externally publishedYes
Event12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
Duration: 2005 Jul 182005 Jul 20

Publication series

Name2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Volume2005

Other

Other12th International Conference on Advanced Robotics, 2005. ICAR '05
Country/TerritoryUnited States
CitySeattle, WA
Period05/7/1805/7/20

Keywords

  • Asteroid Exploration Robot
  • Robotics Simulator
  • Sample Acquisition
  • Space Robotic Exploration
  • Visual Navigation

ASJC Scopus subject areas

  • Engineering(all)

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