Stability and Adaptability Analysis for Legged Robots Intended for Asteroid Exploration

摘要

This paper presents the design and gait analysis of a mobile rover for asteroid exploration. The basic requirement for the robot is to achieve scientific investigation of the asteroid surface at arbitrary locations with fine positioning capability after a large stride movement. This paper implements a general method for analyzing gaits, independent of the robot discussed, and could be applied to the gait of any legged robot; although special attention is given to creating a suitable gait for a nearly weightless environment. The discussion and simulation of different types of gaits in microgravity are addressed considering the principle of the motion using 3D computer simulation and control focused on the generation of statically stable and adaptable gaits so the rover advances with a desired speed and direction