SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies
Alexander Spiridonov,Fabio Buehler,Moriz Berclaz,Valerio Schelbert,Jorit Geurts,Elena Krasnova,Emma Steinke,Jonas Toma,Joschua Wuethrich,Recep Polat,Wim Zimmermann,Philip Arm,Nikita Rudin,Hendrik Kolvenbach,Marco Hutter,Alexander Spiridonov,Fabio Buehler,Moriz Berclaz,Valerio Schelbert,Jorit Geurts,Elena Krasnova,Emma Steinke,Jonas Toma,Joschua Wuethrich,Recep Polat,Wim Zimmermann,Philip Arm,Nikita Rudin,Hendrik Kolvenbach,Marco Hutter
We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2 kg and has a body size of 245 mm while using space-qualifiable components. Furthermore, SpaceHopper’s design and controls make it well-adapted for investigating dynamic locomotion modes with extended flight-phases. Instead of gyroscopes or fly-wheels, the sy...
