Tumbling and Hopping Locomotion Control for a Minor Body Exploration Robot
Keita Kobashi,Ayumu Bando,Kenji Nagaoka,Kazuya Yoshida,Keita Kobashi,Ayumu Bando,Kenji Nagaoka,Kazuya Yoshida
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 ...
