小惑星探査用内部アクチュエータ式立方体ロボットの跳躍移動設計
Locomotion Design for an Internally Actuated Cubic Robot for Exploration of Low Gravity Bodies in the Solar System
内部フライホイールの急停止・電圧反転ブレーキで跳躍角度を制御し、低重力天体表面を移動する立方体ローバーの2D動力学・制御・軌道シミュレーションを提示した論文。
著者: Alvaro Bátrez, Gustavo Rodriguez-Gomez, Angélica Muñoz-Meléndez
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due to the weak gravity force. In this research, an approach that is based on a new kind of jumping rovers is presented. This robotic platform has internal masses and by spinning up these flywheels and suddenly stopping them, it is feasible to perform a hop from a few meters up to hundreds of meters. In contrast to related works where robotic explorers usually stop a flywheel instantaneously, the INAHOPPER prototype takes advantage of on stopping a flywheel by voltage inversion in a short lapse to modify the launch angle, a very useful action over terrains with different degrees of inclination. This article discusses, first, the dynamics of the rover for a 2D model, second, the control algorithm executed in the prototype for braking the flywheel, and third, the analysis of the performance of the flywheel to make simulations of the trajectories over an asteroid.