A novel strategy for asteroid exploration with a surface robot

摘要

A novel strategy of asteroid exploration is studied that enables in-situ analysis of a minor body at specific locations. As a first step for rover exploration of minor bodies, Japan’s asteroid sample/return probe MUSES-C, to be launched in May 2003, will deploy a robotic device Minerva over the surface of the target asteroid. Due to micro-gravity on minor bodies, the locomotion technology becomes completely different from the one on Earth, Moon, or Mars. The Minerva hops over the surface using inertial reaction, but its navigation is opportunistic. As a potential candidate for a coming generation of minor body rovers, this paper proposes a novel robot that could stick on the surface and move to desired directions on boulders and in grooves. The conceptual design is named “Cliff Hanger, Rock Climber” robot. Its design requirement, technology to stick and hold on boulders, and a feasible mission scenario and system design are addressed.