Mobility Mechanism of Micro Robot under Micro-Gravity

研究了一种具有新型移动系统的微型机器人，它能在国际空间站、小天体、彗星、小行星等微重力环境下移动和跳跃。作者开发了一种新的算法，可以在微重力下自主安全地移动。研究了机器人在小物体表面上的自定位方法。主要研究结果如下：1.移动机制：提出了一种新的跳频移动机制，并通过仿真验证了其有效性.位置识别：提出了一种新的太阳敏感器定位方法.运动估计：提出了一种机器人跳跃运动估计方法，并通过仿真验证了其有效性.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，实验机器人与拟议的移动成功。在微重力下跳跃。在探测车上的应用：设计了具有该机构的探测车，并研制了样机。

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.