Review on A Hopping Robot for Planetary Exploration
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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.
INTRODUCTION
除了轮式和足式机器人，爬行、旋转和跳跃也是可能的前进方式。
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.
跳跃是在低重力环境下的一种有效移动方式。
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.
SYSTEM DESCRIPTION
系统设计目标：最小化驱动器、大小和重量。
The design is driven by the desire of minimizing the number of actuators, and the overall size and weight, while achieving useful scientific capabilities.
系统的缺陷：软地面不能自纠正；爬山坡不可行。
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
具体的芯片设计和能耗管理，比如掉电功能、通信协议等等。
STATIC AND DYNAMIC MODELS
再一次验证了那句话，好的模型可以为系统的最优设计提供参考。
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.
如何精确地跳跃短距离，然后抵达目标点呢？
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.
这应该属于路径规划的一个考虑点吧，毕竟在月球上一次跳跃的距离很长呢。
INITIAL TESTS
以数学为基准去驱动设计和实现。
CONCLUSIONS
新奇的机械设计：蛋型 + 单驱动
The robot consists of an egg-shaped shell enclosing a thrust mechanism, power storage devices and control and sensing electronics.
旋转重定向是依靠传感器提供的偏心力实现的，依赖必要的设备来实现其他功能。
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.