Mobility Mechanism of Micro Robot under Micro-Gravity

作者研究了一种具有新型移动系统的微型机器人，可以在国际空间站或小天体、彗星或小行星表面等微重力环境下移动和跳跃。作者开发了一种在微重力下自主安全移动的新算法。研究了机器人在小体表面位置和姿态的自定位方法。得到的结果如下：1。移动机制：提出了一种新的跳跃移动机制，并通过仿真验证了其有效性。位置识别：利用太阳敏感器开发了一种新的定位方法。运动估计：提出了一种估计机器人跳跃运动的方法，并通过仿真验证了该方法的有效性。运动规划：提出了一种路径规划方案并进行了仿真。微重力实验：进行了跳跃实验，实验机器人的移动能力获得成功。在微重力下跳跃。在探测车上的应用：设计并研制了基于该机构的探测车样机。

The authors have studied a micro-robot with a new mobility system to move and hop under such micro gravity environment as International Space Station or surface of small body, comets or asteroids. The authors have developed an novel algorithm to move under micro gravity autonomously and safely. The authors also have studied a selfpositioning method to identify the position and attitude of a robot on the surface of small body. The obtained results are as follows.1. Mobility Mechanism : a new mobility on hopping was proposed and the effectiveness was confirmed by simulations.2. Position Identification : a new positioning method was developed by the sun sensors.3. Motion Estimation : a method to estimate motion of a robot during hopping was devebped and the effectiveness was confirmed by simulations.4. Motion Planning : a path planning scheme was proposed and simulated5. Micro Gravity Experiments : hopping experiments were performed and the experimental robot with proposed mobility succeeded. In hopping under micro -gravity.6. Application to Exploration Rover : exploration rover with proposed mechanism was designed and the prototype was devebped.