抄録
Gravity on an asteroid surface is generally much smaller than one on planets such as Earth or Mars. So far, some locomotion strategies for an asteroid exploration robot under micro-gravity have been proposed. However, most of these strategies have not taken into acount soft landing on asteroids. Thus, the robot accompanies hard collisions with the asteroid surface before stopping its motion due to uncertainty of the asteroid environment. In addition, the hard collisions are concerns for embedded instruments. Therefore, as one of the soft-landing methods, we propose an asteroid exploration robot with robotic arms. The robot can achieve soft-landing under micro-gravity by controlling the arms. In this paper, the proposed landing method is validated through micro-gravity experiments using an air floating testbed.
