Abstract
Recently, the manned moon base project has been considered in Japan and some other countries as the next mission of the International Space Station. Space robotics technology has played an important role in space exploration due to its advantage of low cost, safety and high performance. Therefore, many robots will be expected to play an important role cooperating with astronauts for lunar exploration in this project. Especially, humanoid robot features could have many advantages, such as interacting with astronauts and the ability to perform human tasks. This research investigates the effect of gravity on bipedal robot motion, for example walking, running and jumping. Gravity is an important parameter in generating a bipedal locomotion trajectory. In this research, humanoid robot motion with low moving speed used in rooms of the moon base is investigated. This robot mainly does physical works with astronauts in the environment with air and a flat floor as opposed to Rover. Simulation results showed that optimal motion mode for a robot was walking considering small joint torques and energy conservation. On the other hand, jumping is suitable for an astronaut in a room, because jumping plays a role as the exercise so that muscular strength does not decline.
