Abstract
This paper presents hybrid motion simulation of a hopping robot for asteroid exploration. The simulator has an inherent issue, namely delay time in the loop of the simulation, which induces instability of the system in demonstrating high frequency collision such that small mass object collides with rigid environment. Therefore, this paper introduces scaling law in the process of evaluation of the hopping robot motion. By using scaling law, behavior of an actual hopping robot can be estimated from the simulated behavior of a hopping robot model with large mass in the hybrid motion simulator. In order to validate the validity of demonstrated behavior by hybrid motion simulator, we compare the simulation result with the experiment result of behavior of the hopping robot experimented by using air floating testbed.
