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.
|ジャーナル||European Space Agency, (Special Publication) ESA SP|
|出版ステータス||Published - 2005 12 15|
|イベント||i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - Munich, Germany|
継続期間: 2005 9 5 → 2005 9 8
ASJC Scopus subject areas
- Aerospace Engineering
- Space and Planetary Science