论文标题
内部驱动的立方机器人的运动设计，用于探索太阳系中的低重力体
Locomotion Design for an Internally Actuated Cubic Robot for Exploration of Low Gravity Bodies in the Solar System
论文作者
论文摘要
小行星和彗星的探索对于追求太阳系的形成很重要，这是人类太空旅行的重要一步。由于重力较弱，在小行星表面上移动对于未来的机器人探险家而言是挑战。在这项研究中，提出了一种基于一种新型跳车的方法。这个机器人平台具有内部质量，通过旋转这些飞轮并突然停止它们，可以从几米到几百米的几米中进行跳跃。与相关作品相比，机器人探险家通常会立即停止飞轮，inahopper原型在短时间内通过电压反转来停止飞轮以修改发射角度，这是对不同程度倾斜度的地形非常有用的动作。首先，本文讨论了2D模型的流动站的动力学，其次是在制动飞轮的原型中执行的控制算法，第三，第三，对飞轮的性能进行分析，以对小行星进行模拟轨迹模拟。
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due to the weak gravity force. In this research, an approach that is based on a new kind of jumping rovers is presented. This robotic platform has internal masses and by spinning up these flywheels and suddenly stopping them, it is feasible to perform a hop from a few meters up to hundreds of meters. In contrast to related works where robotic explorers usually stop a flywheel instantaneously, the INAHOPPER prototype takes advantage of on stopping a flywheel by voltage inversion in a short lapse to modify the launch angle, a very useful action over terrains with different degrees of inclination. This article discusses, first, the dynamics of the rover for a 2D model, second, the control algorithm executed in the prototype for braking the flywheel, and third, the analysis of the performance of the flywheel to make simulations of the trajectories over an asteroid.
