Title :
Evolving Legged Rovers for Minor Body Exploration Missions
Author :
Chacin, Marco ; Yoshida, Kazuya
Author_Institution :
Dept. of Aerosp. Eng., Tohoku Univ., Sendai
Abstract :
This paper presents the designs of two mobile robots for asteroid exploration. The basic requirements for the robots are 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 each multi-legged robot in microgravity is addressed. This paper considers the principle of the motion using 3D computer simulation, prototype design and feasible mission scenarios of both prototypes focusing on the generation of stable gaits so the robot advances with a desired speed and direction
Keywords :
asteroids; legged locomotion; planetary rovers; prototypes; 3D computer simulation; asteroid exploration; asteroid surface investigation; legged rovers; microgravity; minor body exploration missions; mobile robots; multilegged robot; prototype design; Aerodynamics; Computational modeling; Computer simulation; Legged locomotion; Mobile robots; Motion control; Orbital robotics; Planetary orbits; Sampling methods; Virtual prototyping;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
DOI :
10.1109/BIOROB.2006.1639079
