Evolving Legged Rovers for Minor Body Exploration Missions

Abstract

This paper presents the designs of two mobile robots for asteroid exploration. The basic requirements for the robots are to achieve scientific investigation of the asteroid surface at arbitrary locations with fine positioning capability after a large stride movement. A preliminary discussion and simulation on the dynamic behavior of each multi-legged robot in microgravity is addressed. This paper considers the principle of the motion using 3D computer simulation, prototype design and feasible mission scenarios of both prototypes focusing on the generation of stable gaits so the robot advances with a desired speed and direction