Tumbling and Hopping Locomotion Control for a Minor Body Exploration Robot

This paper presents the modeling and analysis of a novel moving mechanism "tumbling" for asteroid exploration. The system actuation is provided by an internal motor and torque wheel; elastic spring-mounted spikes are attached to the perimeter of a circular-shaped robot, protruding normal to the surface and distributed uniformly. Compared with the conventional motion mechanisms, this simple layout enhances the capability of the robot to traverse a diverse microgravity environment. Technical challenges involved in conventional moving mechanisms, such as uncertainty of moving direction and inability to traverse uneven asteroid surfaces, can now be solved. A tumbling locomotion approach demonstrates two beneficial characteristics in this environment. First, tumbling locomotion maintains contact between the rover spikes and the ground. This enables the robot to continually apply control adjustments to realize precise and controlled motion. Second, owing to the nature of the mechanical interaction of the spikes and potential uneven surface protrusions, the robot can traverse uneven surfaces. In this paper, we present the dynamics modeling of the robot and analyze the motion of the robot experimentally and via numerical simulations. The results of this study help establish a moving strategy to approach the desired locations on asteroid surfaces.2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 25, 2020 - January 24, 2021, Las Vegas, NV, USA （新型コロナ感染拡大に伴い、現地開催中止

Mobility Analysis of Hopping and Tumbling Motion in Microgravity

This paper presents the analyses of the tumbling and hopping mobility of a novel moving mechanism on small celestial bodies in microgravity. The robot consists of an inner motor with a flywheel and eight elastic spikes connected to the perimeter of the robot. The tumbling and hopping motion of the robot can be switched by controlling the torque of the motor. Hence, the robot can traverse a large region with high moving accuracy. In this paper, we conduct several numerical simulations to analyze the characteristics of the mobility by assigning various values of elastic and damping coefficient of spikes, and the torque of the motor. The results are useful to construct the feasible motion planning for real missions.International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2020), October 19-23, 2021, Los Angles, CA, USA（新型コロナ感染拡大に伴い、オンライン開催に変更

Life Sciences Program Tasks and Bibliography for FY 1997

This document includes information on all peer reviewed projects funded by the Office of Life and Microgravity Sciences and Applications, Life Sciences Division during fiscal year 1997. This document will be published annually and made available to scientists in the space life sciences field both as a hard copy and as an interactive internet web page