Intelligent rover with hopping mechanism for asteroid exploration
Intelligent rover with hopping mechanism for asteroid exploration
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DOI：
10.1109/rast.2013.6581357
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发表时间：
2013-06
期刊：
影响因子：
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通讯作者：
T. Kubota;T. Yoshimitsu
中科院分区：
文献类型：
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作者：
T. Kubota;T. Yoshimitsu
近年来，小天体探测任务受到了广泛关注。日本宇宙航空研究开发机构于2010年完成了隼鸟使命任务，并成功地从该小行星上获取了样本。日本宇宙航空研究开发机构还在开发隼鸟2号航天器，这是对近地小行星的采样后返回使命。隼鸟号航天器上安装了一个名为MINERVA的新型微型跳跃式探测器。然后，根据这些经验，正在为隼鸟2号航天器开发一些流动站包。使命概念与MINERVA相同，但采用了多个漫游车系统。由于目标小行星参数可能与隼鸟使命中之前的目标不同，因此在隼鸟2号使命中对漫游车系统进行了新设计。本文介绍了移动机器人探头小体表探测的挑战。本文提出了一种跳跃机构，并通过微重力实验验证了所提出的跳跃机器人的有效性。本文还讨论了小型探测机器人所需的智能。
In recent years, small body exploration missions have received a lot of attention. JAXA completed Hayabusa mission in 2010 and succeeded in getting samples from the asteroid. JAXA is also developing the Hayabusa2 spacecraft, the post sample return mission to a near-earth asteroid. A novel and tiny hopping rover called MINERVA was installed into Hayabusa spacecraft. Then, with these experiences, some rover packages are under development for Hayabusa2 spacecraft. The mission concept is the same as MINERVA, but multiple rover system is introduced. Because the target asteroid parameters may be different from the previous target in Hayabusa mission, the rover system is newly designed in Hayabusa2 mission. This paper describes the challenge of mobilizing a robotic probe for small body surface exploration. This paper proposes a hopping mechanism and shows the effectiveness of the proposed hopping robot by micro gravity experiments. This paper also discusses the required intelligence for small body exploration robot.