Stability and adaptability analysis for legged robots intended for asteroid exploration

Marco Chacin, Kazuya Yoshida

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

4 Citations (Scopus)

Abstract

This paper presents the design and gait analysis of a mobile rover 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. This paper implements a general method for analyzing gaits, independent of the robot discussed, and could be applied to the gait of any legged robot; although special attention is given to creating a suitable gait for a nearly weightless environment. The discussion and simulation of different types of gaits in microgravity are addressed considering the principle of the motion using 3D computer simulation and control focused on the generation of statically stable and adaptable gaits so the rover advances with a desired speed and direction.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1744-1749
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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