Two-Input-Torque for Hopping Exploration Robot to Enhance Reachability under Microgravity

Abstract

This study deals with the behavior of a jumping/hopping exploration robot under microgravity. Through a dynamics simulator developed based on Open Dynamics Engine, we discuss the reachability of a hopping exploration robot to a target point on rough terrain of a small asteroid. In this paper, the leg arrangement of exploration robots is supposed on isotropic regular polyhedrons. First, by adding a constant input torque, the relations between the leg arrangement and rover's hopping speed/angle are investigated. Then, to make the hopping angle lower, two times of input torques are examined. After that, the reachability to a destination point is stochastically investigated for the different leg arrangements, considering unknown local surface slopes which are generated randomly.