A Hopping Robot for Planetary Exploration
本文提出一个行星探测跳跃机器人，可以通过跳跃来移动和滚动来拍照。一个突出的特点是机器人可以依靠单个马达 (single motor) 朝指定方向跳跃。
The goal of this project is to explore a different mobility paradigm which may present advantages over conventional wheel and leg locomotion.
Laboratory experiments have demonstrated the feasibility of slithering, rolling and hopping as alternate propulsion methods, thus paving the way to a more comprehensive approach to mobility than is currently considered.
It shows that hopping is an efficient form of transportation in a low-gravity environment.
常见的二足式跳跃机器人的运动是离散的，因为在跳跃中会有重定向 (reorientation) 和推力机制蓄能 (recharge of the thrust mechanism) 的间隔。
The common characteristic of these two hopping systems is motion discontinuity, since a pause for reorientation and recharge of the thrust mechanism is inserted between jumps.
The design is driven by the desire of minimizing the number of actuators, and the overall size and weight, while achieving useful scientific capabilities.
A possible drawback of this design is limited mobility on soft terrain, since the ground will conform to the shape of the robot and prevent it from self-righting.
The Hopping Mechanism
蛋型 + 自纠正能力
The chosen mechanism is a robust egg-shaped body with self-righting capability.
Computer and Sensor Electronics
STATIC AND DYNAMIC MODELS
The critical design constraint required to achieve maximum hopping distance.
LARGE AND FINE MOTION (微运动)
地表状况会对轨迹的计算造成影响。Soil mechanics 土壤力学
Furthermore, the uncertainty of the terrain condition and of the lift-off angle will prevent the advanced calculation of the trajectory parameters.
To cover short distances and to approach the desired target, we are planning to develop and test two new methods for fine motion control of the hopping robot.
The robot consists of an egg-shaped shell enclosing a thrust mechanism, power storage devices and control and sensing electronics.
Hopping is powered by a spring released under computer control, whereas orientation is achieved by rotating an off-axis mass, consisting of the video camera and its transmitter, about the robot vertical axis.
Future Work: In the future, we plan to carry out extensive simulations and experiments with the prototype to test its mobility capabilities and fully develop a new method of fine motion control based on hopping and rolling.